This is from "The Creative Cooking Course"
Prepare the caramel glaze while the puffs are cooking. Dip the tops of the puffs into the hot glaze, holding the puffs securely with tongs.Place on foil to cool, being careful not to touch the hot glaze. Drizzle glaze quickly over the pastry base. As you fill the cream puffs you would stack them.
Caramel Glaze
2 cups sugar
1 cup water
Combine the sugar and water in a heavy saucepan. Place over medium heat and stir only until sugar is melted. Let cook at a slow boil, without stirring, for about 30 minutes or until lightly golden and syrupy. Use immediatly as individual recipes directs, because glaze hardens rapidly. Handle the hot glaze with caution.

From Joy of Cooking
Carmelize 2 cups sugar page 559
For hard glazes
Heat in any very heavy nonferroous pan over very low heat
2 cup granulated sugar
Stir constantly with a long-handled spoon for 8 to 10 minutes, until the sugar is melted and straw-colored. Remove the pan from the heat. Add 1/2 cup very hot water very slowly and carefully for a quick addition might cause explosive action. This safeguard against the spurting of the hot liquid will also help make the syrup smooth. To make the syrup heavier, rerurn the pan to low heat for another 9 to 10 minutes, continuing to stir, until the sugar mixture is the color of maple syrup. Toward the end of this process, to prevent its becoming too dark, you may remove the pan from the heat and let the carmelization reach a bubbling state from the stored heat of the pan. Store the syrup covered on a shelf for future use. The syrup hardens on standing but, if stored in a heatproof jar, is easily remelted by heating the jar gently in hot water.