Step 1: Preheat your oven to 375°F (190°C) and line a baking sheet with parchment paper.
Step 2: In a medium bowl, combine the softened cream cheese, pumpkin puree, granulated sugar, brown sugar, pumpkin pie spice, and vanilla extract. Beat with an electric mixer or whisk until smooth and well combined.
Step 3: Unroll the crescent roll dough and separate it into 8 triangles.
Step 4: Spoon about 1 tablespoon of the pumpkin cheesecake filling onto the wider end of each crescent roll triangle.
Step 5: Gently roll up each crescent starting from the wider end towards the point, tucking in any filling that tries to escape. Place them seam-side down on the prepared baking sheet.
Step 6: Bake for 12-15 minutes, or until the crescent rolls are golden brown and puffed.
Step 7: While the rolls are baking, prepare the glaze: In a small bowl, whisk together the powdered sugar and 1 tablespoon of milk until smooth. Add more milk, a teaspoon at a time, until you reach your desired drizzling consistency.
Step 8: Once the crescent rolls are out of the oven, let them cool on the baking sheet for a few minutes before transferring to a wire rack. Drizzle generously with the glaze before serving warm or at room temperature.