In a small bowl, combine milk and lemon juice and set aside.
In a medium bowl, whisk flour, baking powder, baking soda, cinnamon, ginger, nutmeg, and cloves and set aside.
In a large bowl, whisk together melted butter and brown sugar. Add in the eggs and molasses, whisk to combine. Add in milk mixture and whisk until incorporated.
Add flour mixture to wet ingredients in two additions, whisking just until combined each time.Preheat waffle iron and spray lightly with non-stick cooking spray.
Cook accordingly to waffle manufacturers instructions.
Serve with butter, maple syrup, and powdered sugar. Makes about 8 waffles depending on waffle maker.