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Preheat the oven to 375°F. Line a baking sheet with parchment paper or a silicone baking mat.
In a medium-sized bowl, whisk to combine the pumpkin puree, brown sugar, granulated sugar, pumpkin pie spice and egg yolks.
On a large cutting board, or on parchment paper, unroll and separate the crescent rolls. Spread a spoonful of the pumpkin filling over the rolls, keeping the filling away from the edges.
Roll the crescent dough up and place each roll on the cookie sheet, leaving a few inches between each roll for spreading.
Bake for 11 to 13 minutes, until golden brown. Remove from the oven and let cool while you make the icing.
In a small bowl, whisk to combine the powdered sugar, 3 teaspoons of milk and maple flavoring until a smooth consistency. If your icing is too thick, add a little more milk, as needed.
Drizzle pumpkin pie crescent rolls with the icing and serve warm!