Preheat your oven to 375°F (190°C) and lightly grease a muffin tin.
Unroll the crescent dough and press the seams together to form a rectangle.
Brush the dough with melted butter.
In a small bowl, mix the brown sugar and cinnamon together.
Sprinkle the cinnamon-sugar mixture evenly over the buttered dough.
Starting from the long side, roll up the dough tightly into a log.
Slice into 12 mini rolls and place each roll into the muffin tin.
Bake for 10–12 minutes or until golden brown.
While they bake, whisk together the powdered sugar and milk for the glaze.
Drizzle the glaze over the warm rolls and serve immediately.