Creating Soft Pumpkin Cookies with Cinnamon Frosting is a simple process. Follow these steps to ensure your cookies come out perfectly:

1. Preheat Oven: Preheat your oven to 350°F (175°C) and line baking sheets with parchment paper.
2. Mix Dry Ingredients: In a large bowl, whisk together the flour, baking powder, baking soda, ground cinnamon, ginger, nutmeg, and salt.
3. Combine Wet Ingredients: In another bowl, mix the canned pumpkin, granulated sugar, brown sugar, vegetable oil, egg, and vanilla extract until smooth and well combined.
4. Combine Mixtures: Gradually add the dry ingredients to the wet ingredients, gently folding until a dough forms. Be careful not to overmix.
5. Scoop Cookies: Using a cookie scoop or two tablespoons, drop dough onto the prepared baking sheets, spacing them about 2 inches apart.
6. Bake: Bake in the preheated oven for 12-15 minutes. The cookies should be lightly golden and set at the edges but still soft in the middle.
7. Cool: Allow cookies to cool on the baking sheets for about 5 minutes before transferring them to wire racks to cool completely.
8. Make Frosting: In a mixing bowl, beat the softened butter until creamy. Gradually add the powdered sugar, milk, cinnamon, and vanilla extract. Beat until smooth and fluffy. Adjust with more milk if the frosting is too stiff.
9. Frost Cookies: Once the cookies are completely cool, spread a generous layer of cinnamon frosting atop each cookie, creating a delightful swirl.
10. Serve: Enjoy your cookies immediately or store them in an airtight container.

Following these detailed steps, you will end up with delectable Soft Pumpkin Cookies topped with heavenly cinnamon frosting, perfect for any occasion!