Preheat oven to 375°F and line a baking sheet with parchment paper. Set aside.
Combine the pumpkin puree, brown sugar, granulated sugar, pumpkin pie spice, and egg yolks in a medium bowl.
1 cup pumpkin puree, 3 tablespoons brown sugar, 3 tablespoons granulated sugar, 1 teaspoon pumpkin pie spice, 2 egg yolks
Unroll and separate the crescent rolls. Spread a spoon of pumpkin filling over the rolls.
16 ounces refrigerated crescent roll dough
Roll the dough up and place each roll on the prepared baking sheet.
Place in the oven and bake for 10-12 minutes, until just lightly brown.
Combine the powdered sugar, milk, and maple extract and whisk hard until it reaches a smooth consistency. Add more milk if needed.
½ cup powdered sugar, 2 teaspoons milk, ¼ teaspoon maple extract
Cool the rolls for 5 minutes, then drizzle with the icing before serving.