Preheat your oven to 375°F (190°C). Line a large baking sheet with parchment paper.
Unroll one can of crescent roll dough onto a clean countertop, and press the seams together to create a solid rectangle.
In a small bowl, mix together the granulated sugar and ground cinnamon.
Brush half of the melted butter over the surface of the crescent dough. Sprinkle half of the cinnamon-sugar mixture on top, and gently press it into the dough.
Using a pizza cutter or sharp knife, slice the rectangle into 1-inch strips.
Twist each strip several times to create a spiral effect, then place them on the prepared baking sheet.
Repeat the process with the second can of crescent dough, using the remaining butter and cinnamon-sugar mixture.
Bake the twists in the preheated oven for 12-15 minutes, or until they are golden brown.
While the twists are baking, prepare the drizzle by whisking together the powdered sugar, milk, and vanilla extract until smooth. Adjust the consistency as needed with more milk or powdered sugar.
Once baked, remove the cinnamon twists from the oven and let them cool slightly. Drizzle the sweet glaze over the warm twists.
Notes
Adjust the drizzle consistency with more milk or powdered sugar as needed.