In a large mixing bowl, combine flour, sugar, yeast, salt, cardamom, ginger, and cloves until mixed well.

In a small saucepan, heat milk until warm (not boiling). Then, whisk in melted butter and vanilla.

Pour the warm milk mixture into the dry ingredients and mix until a dough forms.

Knead the dough on a floured surface for about 5-7 minutes until smooth.

Place the dough in a greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place for about 1 hour or until doubled in size.

While the dough is rising, mix brown sugar, cinnamon, cardamom, and ginger in a small bowl.

After the first rise, punch down the dough and turn it onto a floured surface. Roll it out into a rectangle about 1/4 inch thick.

Spread softened butter over the rolled-out dough. Sprinkle the cinnamon filling evenly on top.

Starting from one long side, roll up the dough tightly into a log and pinch seam to seal.

Slice the rolled dough into 12 equal pieces and place them in a greased baking pan. Cover with a kitchen towel and let them rise for another 30 minutes.

Preheat the oven to 350°F (175°C). Once risen, bake for 25-30 minutes until golden brown.

In a small bowl, mix powdered sugar, milk, and vanilla until smooth.

Once the rolls have cooled slightly, drizzle the icing over them.