Add the softened butter, maple syrup, and molasses to a bowl and use an electric hand mixer or stand mixer to cream them together on high speed until smooth, about 1 to 2 minutes.
Add the egg yolk and vanilla to the bowl and mix on medium speed until incorporated about 1 minute
In a small bowl, mix the flour, ground ginger, ground cinnamon, nutmeg, and salt until combined
Add in the dry ingredients and mix on low speed until it forms a dough. It may seem crumbly at first, but it will form into a soft dough. Scrape down the sides as needed and do not overmix. It will be slightly sticky but will firm up once it chills.
Scoop the dough into a small bowl and cover it tightly. Place the bowl in the fridge to allow the dough to chill for at least 1 hour or overnight. This step is important and it will allow the flour time to hydrate and make it easier to roll out.
After at least an hour, place the chilled dough on the counter to allow it to slightly soften. Preheat the oven to 350 degrees F.
Sprinkle 1 to 2 tablespoons of flour on a surface or sheet of parchment paper and place the dough on top. Flour a rolling pin and roll the dough out until it is about 1/4 of an inch thick for crunchy cookies. If you prefer softer cookies, roll it out slightly thicker.
Use a mini stamp gingerbread cookie cutter (or any mini cookie cutter) to cut out shapes from the dough. Transfer them immediately to a parchment paper-lined pan. Peel away the scraps and reroll them out to cut out more shapes from the dough until all of the dough is used. Add additional flour as needed to prevent the dough from sticking. I was able to make two trays full of mini cookies using this dough. Bake the cookies for 5 to 7 minutes until the edges are lightly golden brown. Allow the cookies to cool completely before removing them from the pan.
To make homemade cookie icing drizzle, mix powdered sugar, and milk with a fork until smooth, adding a little more liquid as needed until you reach the desired consistency. Drizzle the icing on top of the cookies and allow it to fully set before serving.