I used this icing on pumpkin cookies, and it was yummy! I have to admit that while it was really good, I think I prefer cream cheese frosting on pumpkin cookies. It probably just depends on your preference.
From the Sisters' Cafe:
In saucepan, heat 3 Tb butter and 1/2 brown sugar over medium to med-high heat until bubbling and thick. Cool 10 minutes. Stir in 1/4 cup milk. Add 2 cups of powdered sugar and beat until smooth.