Preheat your oven to 375°F (190°C).

Unroll the crescent roll dough onto a clean surface and pinch the seams to create a single rectangle.

In a small bowl, mix the brown sugar and ground cinnamon.

Drizzle the melted butter over the dough, spreading it evenly.

Sprinkle the cinnamon-sugar mixture evenly over the dough.

Starting from the long end, tightly roll the dough into a log and pinch the edges to seal.

Slice the log into approximately 1-inch pieces (about 8-10 bites).

Arrange the slices cut side up on a baking sheet lined with parchment paper and bake for 12-15 minutes until puffed and lightly golden.

While the bites are baking, whisk together the powdered sugar, milk, and vanilla extract until smooth.

After baking, let the bites cool for a few minutes before drizzling the icing on top.