Preheat oven to 375 degrees. Roll out crescent roll sheet. Brush with melted butter. In a small bowl, mix together the sugar and cinnamon. Sprinkled evenly over the dough (yes, it's a lot. yes, use it all.)
The sheet is a rectangle, with the shorter side facing you, roll up tightly into a roll. Slice into six even pieces.
Grease six sections of a muffin tin well with cooking spray. Place each roll cut side up into each section. Bake for 11-15 minutes until rolls are golden brown. Place tin on a wire rack and let cool.
While rolls are cooking, place the cream cheese in a medium-sized bowl and cream until smooth with a hand mixer. Add the powdered sugar and vanilla, mix to combine. Add the butter and mix to combine. Add the milk one tablespoon at a time until desired consistency. The glaze should be thick but pourable.