Preheat oven to 375 degrees. Unroll your crescent dough and separate into triangles on a baking sheet.
In one bowl, combine brown sugar and cinnamon to create your filling. In another bowl, combine confectioner’s sugar and milk to make your icing.
Spread the brown sugar and cinnamon mixture on your dough triangles. Roll triangles starting from the shortest side and going to the opposite point. Bake for 9-12 minutes.
Remove your rolls from the oven and drizzle your icing on top. Serve and enjoy!