Mini Cinnamon Rolls

Ingredients (6)

• + 1 (8 ounce) package refrigerated crescent rolls add to pantry
• + ¾ cup dark brown sugar add to pantry
• + 2 tablespoons ground cinnamon add to pantry
• + 1 cup confectioners' sugar add to pantry
• + 2 tablespoons milk, or more as needed add to pantry
• ✓ ¼ teaspoon vanilla extract