Preheat your oven to 375°F (190°C). Grease or line a baking sheet with parchment paper for easy cleanup.
In a bowl, mix chopped apple pie filling with brown sugar, cinnamon, and vanilla until evenly coated.
Flatten each biscuit into a 4-inch circle. Place a spoonful of the apple mixture in the center, then fold the edges up and pinch to seal.
Arrange the biscuits seam-side down on the baking sheet and brush the tops with melted butter.
Bake for 15–18 minutes or until golden brown and puffy. Your kitchen should smell like a cozy bakery.
While the biscuits cool slightly, whisk together powdered sugar, milk, and vanilla to make a smooth glaze.
Drizzle the glaze over warm biscuits and serve immediately for the best flavor.