In a large bowl, beat honey and sugar. Add eggs, one at a time, beating well after each addition. Combine the flour, baking soda, cinnamon, salt, allspice and cloves; gradually add to honey mixture and mix well.
Shape dough into five 10-in. rolls; wrap in plastic. Refrigerate for 2 hour or until firm.
Unwrap dough and cut into 1/4-in. slices. Place 2 in. apart on baking sheets coated with cooking spray. Combine confectioners' sugar and milk; lightly brush over cookies.
Bake at 350° for 8-10 minutes or until lightly browned. Remove from pans to wire racks to cool.