1. Preheat your oven to 375°F and line a baking sheet with parchment paper.
2. Open the crescent roll dough and separate into rectangles, pressing the perforations together.
3. Spread the peach pie filling evenly over each rectangle, leaving a small border around the edges.
4. In a small bowl, mix the brown sugar and cinnamon together, then sprinkle evenly over the peach filling.
5. Roll up each rectangle tightly, starting from a short side, and pinch the seams to seal.
6. Cut each roll into 1-inch slices and place them on the prepared baking sheet.
7. Brush the tops with melted butter and bake for 12-15 minutes, or until golden brown.
8. While the rolls are baking, whisk together the powdered sugar, milk, and vanilla extract to make the glaze.
9. Once the rolls are out of the oven, let them cool for a few minutes before drizzling with the glaze.

My tip: If you ever find yourself with leftover filling, it makes a delightful topping for pancakes or ice cream!