Stir the warm milk, granulated sugar, and yeast together in the bowl of a stand mixer and let it sit until foamy, 5 to 10 minutes. If it isn't getting big and foamy, the yeast is no good and you'll need new yeast.
1 cup whole milk, ¼ cup granulated sugar, 2¼ teaspoons active dry yeast
Add the molasses, eggs, melted butter, and vanilla extract, and stir with a fork to break up the eggs a bit.
¼ cup unsulphured molasses, 2 large eggs, ½ cup unsalted butter, 1 teaspoon vanilla extract
Whisk the flour, ginger, cinnamon, cloves, and salt together in a separate bowl, then add it to the mixer.
4½ cups all-purpose flour, 1½ tablespoons ground ginger, 1½ teaspoons ground cinnamon, ¼ teaspoon ground cloves, 1¼ teaspoons kosher salt
Knead with the dough hook on low (Level 1 or Stir for kitchenaid mixers) for 10 minutes, until the dough pulls away from the sides of the bowl and feels slightly tacky without sticking to your fingers. Add more flour 2 tablespoons at a time if it's too sticky (I've added up to ½ cup of extra flour on a humid day).
Transfer the dough to a lightly oiled bowl, turn to coat, cover with plastic wrap, and let it rise in a warm spot until doubled, about 1 to 1½ hours.