Preheat the oven to 350 degrees F.
Grease a 9x5" loaf pan with cooking spray.
Roll out the crescent roll dough from the can and pinch the seams together to create one square/rectangle crescent roll.
Brush the dough with melted butter.
Sprinkle with sugar and cinnamon.
Roll the dough up, as you would cinnamon rolls, into a log.
Cut the log into 6 equal pieces and place into greased loaf pan.
Bake in the preheated oven for 12-15 minutes, until slightly golden.
While the rolls are baking, make the frosting.
In a small bowl, whisk together the powdered sugar, maple syrup, and milk.
Drizzle the frosting over the warm cinnamon rolls.
Enjoy!