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Preheat oven to 350 degrees and spray a 12-count mini muffin pan with cooking spray.
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Roll out the biscuit dough (if using regular crescent roll dough, pinch the seams together) and spread softened butter evenly over the dough.
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Mix together brown sugar, cinnamon, and vanilla extract, and spread the mixture over the butter, making sure to spread all the way to the ends.
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Roll the dough tightly, and cut into 12 equal rounds.
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Place the rolls in the mini muffin tin, and bake for about 12-13 minutes, or until golden brown.
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While the rolls are baking, mix together 2 Tbsp brewed coffee, powdered sugar, and 1 Tbsp whole milk (or heavy cream). If the glaze is too thick, add in more milk and coffee (depending upon your desired consistency).
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Drizzle (or dunk) rolls in the glaze.
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Enjoy!