Preheat your oven to 375°F (190°C). Lightly grease a 9-inch round cake pan or an 8x8-inch baking dish with butter or nonstick spray. Line the bottom with parchment for easier cleanup if desired.
In a medium bowl, stir together 6 tablespoons softened butter, brown sugar, granulated sugar, cinnamon, salt, and 1/2 teaspoon vanilla extract until you have a thick, spreadable paste that holds together without being runny.
6 tablespoons unsalted butter, 1/2 cup light brown sugar, 1/4 cup granulated sugar, 1 1/2 tablespoons ground cinnamon, 1/4 teaspoon fine sea salt or table salt, 1/2 teaspoon pure vanilla extract
Open one can of crescent roll dough and gently unroll it onto a lightly floured surface. If using regular crescents, press the perforated seams together with your fingers to form one large rectangle, taking care not to stretch the dough too thin.
2 8-ounce cans refrigerated crescent roll dough
Using an offset spatula or butter knife, spread half of the cinnamon filling evenly over the dough, leaving a 1/4-inch border along the long edge farthest from you to help the roll seal.
Starting from the long edge nearest you, gently roll the dough into a tight log, keeping the filling inside. Pinch the seam to seal. Use a sharp knife or unflavored dental floss to cut the log into 8–9 even rolls.
Place the sliced rolls in the prepared pan, slightly spaced but touching.
Repeat unrolling, filling, rolling, and slicing with the second can of crescent dough and the remaining filling. Arrange the additional rolls in the pan. You should have about 16–18 rolls total.
2 8-ounce cans refrigerated crescent roll dough
Bake the rolls for 12–15 minutes, or until puffed and lightly golden on top. Crescent dough browns quickly, so watch closely toward the end. The centers should look set, not doughy.
While the rolls bake, beat the softened cream cheese and 3 tablespoons softened butter together in a mixing bowl until smooth. Add powdered sugar, 1/2 teaspoon vanilla, a pinch of salt, and 1 tablespoon of milk or half-and-half. Beat until creamy and smooth, adding more milk a teaspoon at a time until the icing is thick but pourable.
4 ounces cream cheese, 3 tablespoons unsalted butter, 1 1/4 cups powdered sugar, 1-2 tablespoons milk or half-and-half, 1/2 teaspoon pure vanilla extract, salt
Let the cinnamon rolls cool in the pan for 5–10 minutes so they are warm but not piping hot. Drizzle or spread the cream cheese icing over the warm rolls. If using, sprinkle chopped nuts and/or a light dusting of extra cinnamon on top.
1/4 cup pecans or walnuts, ground cinnamon
Serve the crescent roll cinnamon rolls warm, with edges slightly crisp and centers soft and gooey.