In another large bowl, beat the brown sugar and butter with an electric mixer on high until fluffy. Add the egg and beat on low until just combined. Add half the canned pumpkin and beat on low speed, then repeat with remaining pumpkin.
Add all of the flour mixture and stir with a wooden spoon about 10 turns until the flour is incorporated into the wet mixture. Using a tablespoon, drop the dough onto the prepared cookie sheets. Bake six to eight minutes until the cookies puff and are no longer wet in the center. Transfer to a wire rack to cool completely. To make the icing, place the powdered sugar, milk and lemon in a small bowl. Whisk until smooth. Drizzle the icing over the cookies and serve immediately.
Nutrition facts (1 cookie per serving): calories 42, protein 1 g, carbohydrates 6 g, fat 2 g, calcium 10 mg, vitamin D 2 IU, cholesterol 9 mg, fiber 1 g, sodium 19 mg
Recipe courtesy of Jennifer Iserloh, the Skinny Chef.