1. Preheat the oven to 350°F and line two baking sheets with parchment paper.

2. In a medium bowl, whisk together 1 3/4 cups all-purpose flour, baking powder, baking soda, salt, and pumpkin pie spice.

3. In a large bowl, beat 1/2 cup softened butter, 1/2 cup granulated sugar, and 1/2 cup brown sugar until light and fluffy.

4. Mix in the pumpkin puree, egg yolk, and 1 teaspoon vanilla extract until smooth.

5. Add the dry ingredients to the wet ingredients and mix just until a soft dough forms.

6. In a small bowl, stir together 1/4 cup granulated sugar and 1 teaspoon cinnamon for rolling.

7. In another bowl, mix 1/2 cup flour, 1/3 cup brown sugar, 1 teaspoon cinnamon, melted butter, and chopped pecans until crumbly.

8. Scoop the dough into balls, roll each in the cinnamon sugar, and place them on the baking sheets.

9. Press some crumb topping onto the top of each cookie.

10. Bake for 11 to 14 minutes, until the edges are set and the centers are still soft.

11. Cool the cookies on the pan for 5 minutes, then transfer to a wire rack.

12. Whisk together powdered sugar, milk, and 1/2 teaspoon vanilla extract, then drizzle over the cooled cookies.