Combine the milk, butter, cloves and brown sugar in a small saucepan and gently heat until the butter has melted and the sugar has dissolved.
Leave the milk mixture to cool until it is lukewarm (about 37°C or 98°F).
Remove and discard the cloves.
In a large bowl, mix together the flour, yeast, ground cinnamon, ground nutmeg, ground ginger, ground cardamom (if using) and salt.
Slowly mix the milk mixture into the flour mixture.
Add one egg at a time.
Knead the dough on a lightly floured surface until it is elastic in texture. If you have an electric stand mixer, you can knead the dough using the dough hook for about 10-12 minutes on the lowest speed.
Lightly oil a large bowl.
Place the dough into the bowl, cover with a teatowel, and leave it to prove in a warm place for about 1 hour or until it has doubled in size. I like to do this in an oven at 50°C or 120°F.