Preheat the oven to 375°F (190°C) and line a baking sheet with parchment paper.
In a small bowl, mix brown sugar, softened butter, and cinnamon until combined.
Unroll the crescent roll dough and separate it into rectangles (press seams together).
Spread the cinnamon-sugar mixture evenly over half of each rectangle, then fold over and press gently.
Cut into 1-inch wide strips, twist each strip, and place on the baking sheet.
Bake for 12-15 minutes until golden brown and crisp on the edges.
While baking, mix the glaze ingredients in a small bowl until smooth.
Drizzle the glaze over warm twists and serve immediately.