The simplest way is using it in a controller with the @CookieValue annotation:
@RequestMapping("/hello")
public String hello(@CookieValue("foo") String fooCookie) {
// ...
}
Otherwise, you can get it from the servlet request using Spring org.springframework.web.util.WebUtils
WebUtils.getCookie(HttpServletRequest request, String cookieName)
By the way, the code pasted into the question could be refined a bit. Instead of using #setHeader(), this is much more elegant:
response.addCookie(new Cookie("test", "value"));