Preheat oven to 350°F (176°C) and line a baking sheet with parchment paper.
In a medium bowl combine brown sugar, sugar, oil, pumpkin, eggs and vanilla until fully incorporated. Combine wet and dry ingredients and stir to fully incorporate.
Use a small cookie scoop to place mounds of the dough onto the parchment paper. Flatten out the mounds by smoothing the top with the back of a spoon or your fingers that have been dipped in water to keep them from sticking. (The shape they are going into the oven, is the shape they will be when they are done!)
Bake for 11-13 minutes, transfer cookies to a cooling rack and let cool before frosting.
To make the frosting, combine the cream cheese, powdered sugar and yogurt until smooth. (I like to make my frosting thicker so I use less yogurt) If the frosting is too thin, add more powdered sugar. Frost each cookie and enjoy!
Notes
Add 2 cups of chocolate chips for Chocolate Chip Pumpkin Cookies.
Store covered in the fridge for up to 4 days. Cookies can be frozen for up to 3 months.