Preheat oven to 350°F. Spray a baking sheet with cooking spray.
Add butter and brown sugar to a mixing bowl and beat on low until combined. Beat in egg and ¼ cup apple juice.
Add flour, baking soda, salt, cinnamon and cloves to a large bowl and stir to combine. Stir flour mixture into butter mixture. Mix in ¼ cup apple juice and apples.
Add a rounded teaspoonful of batter to the baking sheet, evenly spaced apart. Bake for 15 minutes or until a toothpick comes out clean. Let cool on a cooling rack.
Caramel Glaze
Add butter and brown sugar to a saucepan over medium high heat. Stir until the butter melts and the sugar dissolves. Remove from heat.
Stir in powdered sugar and milk until smooth. Drizzle over the cooled cookies. Top with walnuts.