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Preheat oven to 375 degrees
Unroll the crescent rolls and place on a greased rimmed cookie sheet.
In small bowl mix butter, sugar and cinnamon. Spread mixture over Crescent rolls and roll them up. Place tip side down on cookie sheet.
Bake in preheated oven at 375 degrees F 10-12 minutes or until golden brown. Remove from oven.
While crescent rolls are baking prepare the glaze. In a small mixing bowl mix milk, powdered sugar and vanilla until smooth. Drizzle over Crescent rolls when you pull them out of the oven. Serve immediately.