Preheat your oven to 350°F (175°C) and line a baking sheet with parchment paper.
In a medium bowl, whisk together the flour, baking soda, baking powder, salt, and ground cinnamon. Set aside.
In a large bowl, beat the softened butter and granulated sugar together until light and fluffy, about 2-3 minutes.
Add the egg, vanilla extract, and milk to the butter mixture, mixing until well combined.
Gradually add the dry ingredients to the wet ingredients, mixing until just combined. Do not overmix.
In a small bowl, combine the cinnamon and sugar for the topping.
Scoop tablespoon-sized balls of dough and roll them in the cinnamon sugar mixture until fully coated. Place them on the prepared baking sheet about 2 inches apart.
Bake for 10-12 minutes or until the edges are lightly golden. The centers may look slightly underbaked; they will firm up as they cool.
Allow the cookies to cool on the baking sheet for 5 minutes before transferring them to a wire rack to cool completely.
While the cookies cool, prepare the cream cheese frosting. In a medium bowl, beat together the softened cream cheese and butter until smooth. Gradually add the powdered sugar and vanilla extract, mixing until combined. Add milk as needed to reach your desired frosting consistency.
Once the cookies are completely cool, frost them with the cream cheese frosting.