Preheat your oven to 350°F.

Line a baking sheet with parchment paper to prevent sticking and make cleanup easier.

In a medium bowl, stir together the pumpkin, brown sugar, granulated sugar, vanilla extract, pumpkin pie spice, and egg yolk until smooth and fully combined.

Open the tube of crescent roll dough and unroll it onto a clean surface. Separate the dough along the perforated lines into individual triangles.

Spoon a small amount of the pumpkin mixture onto each triangle, spreading it evenly.

Starting at the wide end, roll up each crescent into a crescent shape. Place them on the prepared baking sheet, spacing them about 2 inches apart.

Bake for 13 to 15 minutes, or until the rolls are puffed and golden brown.

Let the crescents cool on the baking sheet for several minutes. While they cool, whisk together the powdered sugar and milk until smooth.

Drizzle the glaze over the cooled rolls and serve.