Preheat oven to 350 degrees and line a baking sheet with parchment paper.
In a small saucepan over med-low heat, cook diced apples, 2 Tbsp brown sugar, 1/2 tsp vanilla extract, and 1/2 tsp of cinnamon for 5-6 minutes, or until apples have softened. Remove from heat and allow to come to room temperature.
Unfold one sheet of dough and spread with softened butter. Sprinkle with 1/4 cup brown sugar, 1 tsp ground cinnamon, and 2 Tbsp of cinnamon sugar. Spread apple mixture over the dough evenly.
Top with the other sheet of dough and pinch the ends of the dough together.
Cut into 12 even strips and twist a couple of times (it can be a bit messy but it's worth it!) and place on the baking sheet.
Bake for 10-12 minutes, or until dough is golden brown.
While the danish twists are cooling, mix 1/2 cup powered sugar with 2 tsp milk, 1/2 tsp vanilla extract, and 1/2 tsp ground cinnamon. If the glaze is too thin, add in the last 1/4 cup of powdered sugar. If the glaze is too thick, add in another teaspoon of milk.
Drizzle glaze of the danishes.
Enjoy!