Preheat oven to 375°F (190°C). Line a baking sheet with parchment paper.
Unroll crescent dough and press seams together to form a smooth rectangle.
Brush dough with melted butter. Mix granulated sugar and cinnamon, then sprinkle evenly over the buttered surface.
Roll the dough tightly into a log. Slice into 12 equal pieces using a sharp knife.
Place slices on the baking sheet, spaced slightly apart. Bake for 12–15 minutes until edges are golden and centers are set.
Whisk powdered sugar, milk, and vanilla until smooth. Add a splash more milk if needed for consistency.
Drizzle glaze over warm breadtwists. Sprinkle with chopped pecans for extra crunch, if desired.