Preheat oven to 350. In a medium bowl, combine softened cream cheese, white sugar, and vanilla extract. (Mixture should be creamy and smooth. Separate dough into 8 rectangles. Seal perforations. Brush melted butter over crescent rolls. Sprinkle each rectangle with about 1 tbsp of brown sugar. Roll up from long side, pinch edges to seal. Push dough in the middle to make a nest and place on sprayed cookie sheet. Top each nest with cream cheese mixture. Bake at 350 for 15-18 minutes, or until golden brown.
For the glaze, combine powdered sugar, vanilla, and milk. Stir until smooth and drizzle over each warm Danish.
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