Combine milk, egg, melted butter, pumpkin, and vanilla extract in a small bowl. Set aside.
Whisk flour, sugar, baking powder, cinnamon, ginger, nutmeg, salt, and cloves in a medium bowl. Fold wet ingredients into the flour mixture.
Heat a large non-stick skillet or griddle over medium heat until hot. Add ¼ cup scoops of pancake batter onto the griddle. Cook for 3 minutes on each side, until golden brown.