Whisk together flour, baking soda, salt, 1.5 tsp cinnamon, ginger, and nutmeg in a medium bowl.
In a separate large bowl, cream the softened butter, granulated sugar, and brown sugar until light and fluffy.
Beat in the pumpkin puree, egg yolk, and vanilla extract until well combined.
Gradually add the dry ingredients to the wet ingredients and mix until just incorporated.
Divide the dough, roll it out into a rectangle, brush with melted butter, and sprinkle with the cinnamon-sugar filling mixture.
Roll the dough into a tight log, wrap in plastic, and chill for at least 1 hour.
Preheat the oven to 350F and line a baking sheet with parchment paper.
Slice the log into rounds and place on the baking sheet.
Bake for 10-12 minutes until the edges are just set.
Whisk powdered sugar with milk and extract to create a glaze, then drizzle over cooled cookies.