Preheat the oven to 350° degrees F. Spray a metal 9x13 baking pan with baking spray (this is not the same as regular non-stick spray; it should have flour as one of the ingredients and is typically includes "baking" in the label).
In a medium mixing bowl, whisk together the flour, baking soda, cinnamon, ginger, nutmeg, cloves, and salt.
2 cups all-purpose flour, 2 teaspoon baking soda, 1 ¼ teaspoon cinnamon, 1 teaspoon ground ginger, ½ teaspoon ground nutmeg, ½ teaspoon ground cloves, ½ teaspoon kosher salt
In a large mixing bowl, whisk together the pumpkin puree, brown sugar, yogurt and oil until it is very smooth.
1 (15 oz) can pumpkin puree , 1 ¾ cups brown sugar, ½ cup plain Greek yogurt, ½ cup canola or avocado oil
Add each egg one at a time, whisking in between each addition until well combined. Then add the vanilla and stir to combine.
4 eggs, 2 teaspoon vanilla extract
Pour the dry ingredients into the wet ingredients, then stir gently until combined and no white streaks or large lumps remain. (You can use the whisk for this, but be gentle because you don't want to whip air into the batter or overmix it)
Pour the finished batter into the prepared pan. Bake for 30 to 35 minutes, or until a toothpick inserted in the center comes out clean or with just a few moist crumbs. Be careful not to overbake. Set the cake on a wire rack and cool completely at room temperature. Meanwhile, make the frosting below.