In this paper, the joint design of power allocation (PA), beamforming (BF) and positioning is studied for unmanned-aerial-vehicle (UAV) aided millimeter-Wave (UAV-mmWave) systems, with the objective of maximizing the energy efficiency (EE), under the constraints of maximum transmitting power, minimum data rate from the ground users and positioning range of the UAV. To address the above problem, we first obtain the positioning of the UAV, with the help of approximate beam pattern. Then, near-optimal BF and closed-form PA are derived given the obtained position, with the help of block coordinate descent method. To reduce the complexity, two suboptimal BF schemes with one-loop iteration and closed-form solutions are respectively derived. Furthermore, we propose the simplified algorithms for two special cases, i.e., only line-of-sight (LoS) path and Non-LoS (NLoS) path exist between the users and the UAV. Simulation results verify the effectiveness of the developed joint schemes and show the superior EE performance. Moreover, they can obtain almost the same performance as the existing benchmark schemes but with lower complexity.