Preheat oven to 350 degrees and line 18 muffin cups with paper liners
Using an electric mixer, beat eggs, sugar, vegetable oil, orange juice, and almond extract until well blended.
Combine flour, cinnamon, baking powder, baking soda, salt, and cloves and add to wet ingredients.
Stir in zucchini and chocolate chips.
Fill muffin cups 2/3's full. Bake for 20-25 minutes. Cool 10 minutes and then remove from muffin tin.
To make frosting, combine brown sugar, butter, and milk in a large saucepan.
Bring to a boil over medium heat and cook, stirring frequently for about 2 minutes. Remove from heat and stir in vanilla. Let cool to lukewarm.
Transfer brown sugar mixture to a mixing bowl and use an electric mixer to gradually beat in confectioners' sugar. Continue to beat until frosting reaches spreading consistency. Spread on cupcakes.