Preheat the oven to 350 degrees F. Grease and line two 9 inch cake pans with parchment paper.
In a medium bowl, combine the flour, baking powder, baking soda, cinnamon, ginger, cloves, nutmeg, allspice, and salt. Set aside.
In the bowl of a stand mixer fitted with a paddle attachment, beat the butter, granulated sugar, and dark brown sugar for 2-3 minutes.
While the mixer is on low speed, slowly drizzle in the molasses. Once all of the molasses is added, scrape down the bowl and beat on medium speed until everything is fully combined.
Add in the vanilla and eggs one at a time, allowing each to fully incorporate before adding the next.
Add half of the dry ingredients, and mix until just combined.
Mix in the milk & yogurt, then the remaining dry ingredients. Be sure to scrape the bottom of the bowl frequently.
Divide batter between the prepared pans and bake for about 25-30 minutes or until a toothpick inserted comes out clean.
Allow the cakes to cool for a few minutes, then turn out onto a cooling rack to cool completely.