Heat oven to 350°F. Line a 9x13-inch pan with parchment or lightly grease.
Beat cream cheese, granulated sugar, vanilla, and salt until smooth and fluffy.
Unroll crescent dough on a lightly floured surface and pinch seams to seal into a rectangle.
Brush dough with half the melted butter. Mix brown sugar with cinnamon and sprinkle evenly over dough. Scatter pecans and press gently to adhere.
Spread the cream cheese mixture evenly over the sugared dough, leaving a 1/2-inch border on one long edge.
Roll up tightly from the opposite long edge to form a log. Place seam-side down and chill 10 minutes to firm.
Slice into 12 even pieces and arrange cut-side up in the pan. Brush tops with remaining melted butter.
Bake 18–22 minutes, until puffed and golden brown. Cool in the pan for 10 minutes.
Whisk powdered sugar with milk (and maple extract, if using) until smooth and pourable. Adjust with a few drops of milk if needed.
Drizzle glaze over warm rolls and serve.