Preheat your oven to 375°F (190°C) and line a baking sheet with parchment paper.
Unroll the crescent roll dough and separate it into 4 rectangular pieces by pressing together the perforations in each pair of triangles.
In a small bowl, mix the granulated sugar and ground cinnamon to create the cinnamon-sugar mixture.
Brush the surface of each dough rectangle with melted butter and sprinkle evenly with the cinnamon-sugar mixture.
Fold each rectangle in half lengthwise, pressing lightly to seal the edges, then twist each strip several times to create the twist shape.
Place the twists onto the prepared baking sheet and bake for 10-12 minutes, or until golden brown and puffed.
Optional: To make the glaze, whisk together powdered sugar, milk, and vanilla extract in a small bowl until smooth. Drizzle over the warm cinnamon twists.
Serve warm and enjoy!
Notes
For a richer flavor, you can add a pinch of nutmeg to the cinnamon-sugar mixture.