Prepare the Oven: Preheat your oven to 350°F (175°C). Line a baking sheet with parchment paper.

Make the Filling: In a medium bowl, combine softened cream cheese, granulated sugar, and vanilla extract. Mix until smooth and creamy.

Shape the Danishes: Unroll the crescent roll dough and divide it into rectangles. Seal any perforations, then fold up the edges slightly to form a shallow border.

Fill the Pastries: Spoon 1-2 tablespoons of the cream cheese mixture into the center of each rectangle. Spread it out evenly, avoiding the edges.

Bake: Place the pastries on the prepared baking sheet and bake for 15-18 minutes, or until golden brown.

Prepare the Glaze: While the pastries cool slightly, mix powdered sugar, milk, and vanilla extract until smooth. Add more milk if needed for a drizzle-like consistency.

Add the Finishing Touch: Drizzle the glaze over the baked pastries. Serve warm or at room temperature.