Separate crescent roll dough into four rectangles; press seams to seal. In a small bowl, combine the brown sugar, butter and cinnamon; spread over two rectangles. Top with remaining two rectangles. Starting from a long side, cut each rectangle into eight strips. Twist each strip several times; seal ends together.
Place on greased baking sheets. Bake at 375° for 10-12 minutes or until golden brown. Immediately remove to wire racks. Combine glaze ingredients; brush over warm twists.