Preheat your oven to 375°F (190°C) and line a baking sheet with parchment paper.

Unroll the crescent roll dough onto a lightly floured surface and press the seams together to create a smooth rectangle.

In a medium bowl, combine the brown sugar, granulated sugar, ground cinnamon, vanilla extract, and a pinch of salt, mixing until well incorporated.

Brush the melted unsalted butter evenly over the surface of the dough.

Sprinkle the cinnamon-sugar mixture over the buttered dough and lightly press it into the dough.

Slice the dough into even strips, about 1 inch wide.

Twist each strip several times before placing it on the prepared baking sheet.

Bake for 10 to 12 minutes or until golden brown.

Cool on the baking sheet for about 5 minutes before whisking together powdered sugar and milk to create the glaze.

Drizzle the glaze over the warm twists before serving.