Preheat oven to 350 degrees and spray a 12-count mini muffin pan with cooking spray.
Roll out the biscuit dough (if using regular crescent roll dough, pinch the seams together) and spread softened butter evenly over the dough.
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.
Roll the dough tightly, and cut into 12 equal rounds.
Place the rolls in the mini muffin tin, and bake for about 12-13 minutes, or until golden brown.
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).
Drizzle (or dunk) rolls in the glaze.
Enjoy!