Preheat oven to 375°F and grease a 12 cup muffin pan, separate crescent dough.
Mix apples, melted butter, brown sugar, and cinnamon until coated.
Add filling to dough triangles, roll tightly, place seam side down.
Bake 15–18 minutes until golden, cover with foil if browning fast.
Whisk powdered sugar, maple syrup, and milk into glaze.
Drizzle glaze over warm rolls, rest 5 minutes before serving.