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Preheat oven to 400°F. Line a baking sheet with parchment paper.
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In a large bowl, whisk together flour, baking powder, baking soda, salt, cinnamon, nutmeg, ginger, and cloves. Stir in brown sugar.
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Add the cold butter and cut it into the flour mixture with a pastry cutter, two knives, or your fingertips until coarse crumbs form, with some pea-sized pieces of butter remaining.
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In a separate bowl, whisk together pumpkin purée, cream or milk, egg, and vanilla.
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Pour the pumpkin mixture into the dry ingredients and gently stir just until the dough comes together. Don't overmix.
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Turn the dough onto a lightly floured surface and gently knead a few times. Pat or roll into a circle about 1 inch thick.
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Cut the dough into 8 wedges and transfer them to the prepared baking sheet.
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Bake for 15–18 minutes, or until the scones are golden brown and firm to the touch.
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Transfer to a wire rack to cool.
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For the glaze, whisk powdered sugar, milk or cream, and vanilla until smooth. Drizzle over cooled scones and allow the glaze to set before serving.