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Preheat oven to 375°F. Unroll crescent dough on a large, ungreased baking sheet and separate triangles.
In a small bowl, combine brown sugar and cinnamon. Spread mixture on top of each triangle of dough and pack it on. Roll up the triangles on an angle and position them on the baking sheet 2" apart.
Bake for 9-12 minutes or until the tops are lightly golden brown.
For the glaze, mix powdered sugar, cream and vanilla together in a small bowl until combined. Add as much or as little to get desired consistency. Drizzle over warm rolls.