Combine cake mix and pumpkin in a mixing bowl. Using an electric mixer, beat on high speed 2 minutes, scraping sides of bowl after 1 minute. Batter will be thick.
Line a muffin tin with 12 deep paper liners. Spoon batter into cups three-quarters full. Push 3 candies into the center of each cup and swirl batter around top to cover candy and make a smooth top.
Bake 17 to 20 minutes, until a toothpick inserted in the center comes out clean. Let cool slightly before serving. (The caramels will be hot.) To make icing, whisk cream cheese, powdered sugar and milk together until smooth. Drizzle on top of cooled muffins.