In a large bowl, beat the eggs, sugar, oil, orange juice and extract.
Combine dry ingredients; gradually add to egg mixture and mix well.
Stir in zucchini
Fill paper-lined muffin cups ⅔ full. Bake at 350 degrees for 20-25 minutes or until toothpick inserted near the center comes out clean. Cool for 10 minutes before removing to a wire rack.
For frosting combine the brown sugar, butter and milk in a saucepan.
Bring to a boil over medium heat; cook and stir for 2 minutes or until thickened. Remove from the heat; stir in vanilla. Cool to lukewarm.
Gradually beat in confectioners' sugar until frosting arches spreading consistency. Frost cupcakes.
Recipe by JOYFUL scribblings at https://www.joyfulscribblings.com/2014/09/zucchini-cupcakes-caramel-frosting/