Preheat oven to 350℉. Line an 8x8 baking dish with parchment paper. Set aside.
In a small bowl, combine granulated sugar, brown sugar and cinnamon. Set aside.
Place a piece of parchment paper on your work surface. Unroll 1 can of crescent roll dough onto the parchment paper and press all the seams together, making a solid sheet of dough.
Spread half of the softened butter, about 3 tablespoons, onto the crescent dough sheet.
Sprinkle half of the sugar and cinnamon mixture onto the dough, leaving a small border around the edges. Press down lightly to ensure the sugar mixture sticks to the butter.
Beginning with the short end, roll the dough to form a log.
Cut the log into 6 equal pieces and place each section, cut-side down, into the prepared baking dish. Repeat the process with the second can of crescent dough. Bake for 25-30 minutes.
While the rolls are baking, beat melted butter, vanilla and powdered sugar until combined. Add 1-2 tablespoons of milk until desired consistency is achieved and icing is smooth. Spread over warm rolls.
Crescent Roll dough sheets will work just as well and you don’t have to press the seams together!
Any excess sugar mixture that has spilled out while rolling the dough can be sprinkled over the top of the rolls once they’re placed in the dish. It creates a crunchy topping.
Cinnamon rolls are best stored without icing. Frost right before serving, and refrigerate any extra icing separate.
Store at room temp in an airtight container for up to 2 days or refrigerate for up to 5 days.
Freeze in an airtight container, wrapped in freezer wrap or freezer storage bags for up to 3 months.