Preheat oven to 350℉. Grease baking dish and set aside.
On parchment paper (for easy cleanup), roll crescent roll sheets . Brush with melted butter and sprinkle with brown sugar.
Starting at one end, roll each sheet into a log. Gently slice into 12 pieces per roll.
Place tight in a buttered baking dish. Bake 26-28 minutes, until golden brown.
In a medium mixing bowl, butter, sugar, milk, vanilla, salt and powdered sugar and beat until smooth. Spread on top of caramel rolls.
Notes
Refrain from removing crescent dough from the refrigerator until ready to make your easy cinnamon rolls. This makes them easier to slice.
Line your working surface with parchment paper for easy clean up.
Liberally grease your pan before adding the rolls to it, so that once baked they are easy to remove and won't stick.
For a thinner icing, add a little extra milk when mixing the frosting.
You can bake these rolls ahead of time and keep them covered in the fridge. Gently reheat them in the oven and spread over the frosting before serving.