Preheat Oven: Set oven to 350°F (175°C) and grease a baking dish.
Prepare Dough: Roll out the crescent roll dough on a flat surface.
Add Filling: Spread melted butter evenly over the dough. Sprinkle with the cinnamon-sugar mixture.
Roll and Slice: Roll the dough tightly into a log and slice into 8 pieces. Place the rolls in the prepared baking dish.
Bake: Bake for 20–25 minutes, or until golden brown.
Prepare Icing: While baking, whisk together powdered sugar, milk, and vanilla extract until smooth.
Serve: Drizzle icing over warm cinnamon rolls and enjoy immediately.
