Preheat oven to 350 degrees F (175 degrees C). Grease 16 mini muffin cups.
Unroll crescent dough onto a work surface; separate into 2 sections along the perforated lines. Brush each half with melted butter; sprinkle with brown sugar and cinnamon. Roll into logs and slice each log into 8 sections. Place into prepared muffin cups.
Bake rolls in preheated oven until golden brown, about 8 minutes.
Whisk milk and maple syrup together in a bowl. Mix in confectioners' sugar, a few spoonfuls at a time, to form desired icing consistency. Drizzle over warm rolls.
