In a small bowl, combine the brown sugar and cinnamon. Set aside.
Place the crescent rolls on a lightly floured surface and pinch the seams together.
Brush all over with melted butter.
Spread the brown sugar and cinnamon mixture all over the crescent dough, coating evenly.
Lengthwise, roll the dough tightly into a log. As you roll, pinch the seams together if you notice the dough separating.
Use a very sharp knife to cut into 16 even slices.
After cutting them out, place the rolls into a mini muffin pan that's been sprayed with nonstick spray.
Bake for 8-10 minutes or until puffy and golden.
While they are baking, make the glaze by adding the powdered sugar, milk, and maple syrup to a mixing bowl. Blend together with a fork or whisk.
One the cinnamon rolls are out of the oven, gently remove them from the pan to a platter. Drizzle the glaze on top of each roll.
Notes
As you carefully roll the dough into a tight cylinder, use your fingers to gently seal any seams that may try to come apart.
Make sure you grease the mini muffin tin well to prevent sticking.
Keep an eye on the rolls as they bake, as ovens can vary. They're done when they're golden brown and puffed up.If the tops are browning too quickly, loosely tent them with foil.