In the bowl of a stand mixer, beat together maple syrup, molasses, and softened butter until fluffy.
Add egg yolk and vanilla, mixing until well combined.
Add flour, spices, salt, and baking powder, and slowly mix until combined.
Shape dough into a disc, wrap in plastic wrap, and refrigerate for about an hour.
After the dough has gotten firm, remove from the fridge and let sit until slightly softened.
Preheat oven to 350 degrees F.
Roll out the dough on lightly floured parchment paper, until about ¼ an inch thick.
Cut out your shapes and place cookies on a parchment lined baking sheet.
Bake for 7-9 minutes.
For the icing, combine the powdered sugar and milk.
Decorate as desired.