Preheat Oven:
Heat oven to 375°F (190°C). Lightly grease or line a small baking dish or muffin tin.
Prepare the Dough:
Unroll the crescent dough and press the seams together to form one rectangle. Flip it over and gently press again to ensure it’s sealed.
Add Filling:
Brush melted butter over the entire surface of the dough. Mix brown sugar and cinnamon in a small bowl, then sprinkle evenly on top.
Roll & Slice:
Starting from the shorter side, gently roll the dough into a log. Slice into 8 even pieces.
Bake:
Place rolls into the prepared dish or muffin tin. Bake for 12–15 minutes or until golden brown and cooked through.
Make the Glaze:
While the rolls bake, whisk powdered sugar, milk, and vanilla until smooth. Add more milk if needed for drizzling consistency.
Drizzle & Serve:
Let cinnamon rolls cool slightly, then drizzle with glaze and serve warm.