Preheat oven to 375°F.
In a large mixing bowl, combine the cream cheese, pumpkin puree, powdered sugar, pumpkin pie spice, and vanilla extract. Beat on medium speed until smooth and creamy.
Unroll crescent dough and place each triangle on a baking sheet lined with parchment paper.
Divide cheesecake mixture by the spoonful evenly among crescent roll dough. Roll each one gently into a crescent shape.
Bake for 12-14 minutes, until golden brown. Set aside to cool.
Make the glaze by combining powdered sugar and milk in a small bowl. Drizzle over crescent rolls and sprinkle with cinnamon or pumpkin pie spice as desired.
Store leftover rolls in an airtight container in the refrigerator.