In a medium bowl, combine softened cream cheese with white sugar and vanilla extract until smooth.
Separate crescent dough into eight rectangles.
Using a brush or spoon, spread melted butter all over crescent rolls.
Sprinkle each rectangle with about 1 tbsp. of brown sugar.
Roll up from long side; pinch edges to seal.
Holding one end, loosely coil each.
Spread out the dough in the middle some to make room for the filling.
Place on cookie sheet that has been sprayed with nonstick spray.
Top each coil with about 2 tablespoons of cream cheese filling.
Bake at 350(F) for 15-18 minutes, or until golden brown.
For the glaze, in a bowl, combine powdered sugar, vanilla and milk. Stir until smooth and drizzle over each warm danish.
If you don't need so many danishes, just use one tube of crescent rolls and save the leftover cream cheese filling for another time. Just put it in a container with an airtight lid and store in the fridge for up to a week.