Preheat your campfire or grill to medium heat. If using a grill, make sure to use a grill-safe stick or skewer.
In a small bowl, mix together the brown sugar and ground cinnamon.
Unroll the crescent roll dough and separate it into triangles.
Brush each triangle with melted butter, then sprinkle a generous amount of the cinnamon-sugar mixture over the dough.
Starting from the wide end, roll up each triangle tightly into a spiral shape.
Carefully skewer each roll-up onto a stick or skewer, leaving some space between each roll.
Place the skewers over the campfire or grill, cooking for about 5-7 minutes, turning occasionally until golden brown and cooked through.
While the roll-ups are cooking, prepare the glaze by whisking together powdered sugar, milk, and vanilla extract in a small bowl until smooth.
Once the roll-ups are done, remove them from the heat and drizzle the glaze over the warm cinnamon roll-ups.