Preheat and Prepare: Start by preheating your oven to 375°F (190°C). Line a baking sheet with parchment paper for an easy cleanup.
Mix the Filling: In a small bowl, combine the granulated sugar and ground cinnamon. This simple mixture will create a heartwarming filling that's both sweet and spicy.
Shape the Rolls: Unroll the crescent dough on a clean surface and separate it into triangles. Brush each triangle with melted butter, then sprinkle a generous amount of the cinnamon-sugar mixture over the top. If using, sprinkle chopped pecans here as well.
Roll 'em Up: Starting at the wider end, roll each triangle tightly to form the crescent shape. Place them on the prepared baking sheet with the tip underneath to prevent unrolling.
Bake to Perfection: Bake for 10-12 minutes or until golden brown. The aroma filling your kitchen will be irresistible!
Icing on the Cake: While the rolls bake, whisk together the powdered sugar, milk, and vanilla extract to make the icing. Adjust the milk to get your desired consistency.
Finishing Touches: Once the rolls are done, let them cool slightly before drizzling with the icing. Serve warm for a melt-in-your-mouth experience.