Preheat oven to 350°. Cream butter and sugars until light and fluffy. Beat in vanilla. In another bowl, whisk together flour and salt; gradually add to creamed mixture and mix well. Roll into 1-in. balls; place in greased miniature muffin cups. Lightly press a pecan half into the center of each. Bake until edges are lightly browned, 10-12 minutes. Cool 10 minutes before removing from pans to wire racks. , For caramel glaze, combine brown sugar, milk and butter in a small saucepan over medium heat. Bring to a boil; cook and stir 1 minute. Remove from heat; cool 5 minutes. Gradually beat in confectioners' sugar and brandy. Drizzle over cookies.