I was going to refer you to the 'Documentation' section of the website, where there is an example of how to do this for a panel. However, I tried to implement the example and it didn't work at all. It's possible I just did something wrong, though. You should take a look and see if it helps you.
$('#p').panel({
width:500,
height:150,
title: 'My Panel',
tools: [{
iconCls:'icon-add',
handler:function(){alert('new')}
},{
iconCls:'icon-save'
handler:function(){alert('save')}
}]
});