Preheat oven to 350° and butter a mini bundt pan, then dust with flour, set aside.
In a large bowl, beat sugar and butter until well combined, then beat in egg and molasses until fully incorporated.
In a medium bowl, add the flour, baking soda, salt, cinnamon, nutmeg, ginger, and cloves and whisk until combined.
Add flour mixture into sugar mixture and mix, then beat in milk until smooth and mixed well.
Pour batter into a large zip top bag, cut off tip, then pipe into bundt pan filling just above halfway.
Bake for 25-30 minutes or until a toothpick comes out clean.
Remove from oven and let cool for 15 minutes before turning cakes out onto a wire rack.
Whisk powdered sugar, vanilla, and milk until smooth.
Drizzle over cooled cakes, add sprinkles, and serve as desired.