In a large mixing bowl, combine 1 cup of flour, sugar, yeast, salt, cinnamon, ginger, cardamom, and cloves. Mix well.
In a separate bowl, whisk together the warmed milk, melted butter, and egg. Pour this mixture into the dry ingredients and stir until combined.
Gradually add the remaining flour, 1/4 cup at a time, until a soft dough forms. Knead the dough on a floured surface for about 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover with a kitchen towel, and let it rise in a warm place for about 1 hour, or until doubled in size.
While the dough is rising, prepare the filling by mixing together the softened butter, brown sugar, cinnamon, ginger, cardamom, and cloves in a small bowl until well combined.
Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle about 1/4 inch thick. Spread the filling evenly over the dough.
Starting from one long edge, roll the dough tightly into a log. Cut the log into 12 equal pieces and place them in a greased 9x13 inch baking dish.
Cover the rolls with a kitchen towel and let them rise for another 30 minutes.
Preheat the oven to 350°F. Bake the rolls for 20-25 minutes, or until golden brown.
While the rolls are baking, prepare the glaze by whisking together powdered sugar, milk, and vanilla extract until smooth.
Once the rolls are done, drizzle the glaze over the warm rolls and serve.