Prepare the Cinnamon Rolls

1. Preheat Oven: Preheat your oven to 375°F (190°C) and grease a round baking dish or cake pan.
2. Roll Out the Dough: On a lightly floured surface, roll out the crescent roll dough into a rectangle.
3. Spread the Butter: Evenly spread the softened butter over the surface of the dough.
4. Add the Filling: In a small bowl, mix the brown sugar and cinnamon. Sprinkle the mixture over the buttered dough.
5. Roll and Slice: Starting from one long side, tightly roll the dough into a log. Slice the log into 8 equal rolls.
6. Arrange in Pan: Place the rolls in the greased baking dish, leaving a little space between each one.
7. Bake: Bake for 15-20 minutes, or until the rolls are golden brown and cooked through.

Prepare the Glaze

1. Mix the Glaze: In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth.
2. Glaze the Rolls: Once the cinnamon rolls are baked and slightly cooled, drizzle the glaze over the top.