Whisk together the flour, baking soda, ginger, pepper, allspice, salt, and cloves in a large bowl.
Using a stand mixer with a paddle attachment (or a hand mixer), beat the melted butter and brown sugar on medium speed for about 1 minute until pale. Add eggs one at a time, beating for 1 minute after each. Mix in the molasses, vinegar, and vanilla. Gradually add the dry ingredients on low speed until just combined.
Divide the dough in half, wrap in plastic, and press into 6 x 6-inch squares. Refrigerate for at least 1 hour (up to 2 days).
Set racks in the upper and lower thirds of the oven; preheat to 350°F. Line two rimmed baking sheets with parchment paper.
Portion dough into 1-ounce (28g) pieces (about 1 1/4 inches in diameter). Roll in demerara sugar and place on baking sheets 3 inches apart.
Bake for 12 to 14 minutes, rotating and switching sheets halfway through. The edges should be firm, but the centers should remain soft and shiny. Let cool on the sheets for 15 minutes before moving to a wire rack.