Preheat oven to 350. Roll out crescent roll dough onto greased or floured surface. Press seams together.
Spread softened butter over dough, leaving 1/2 inch space at edges on all sides. Sprinkle with sugar and cinnamon. Roll up longways and squeeze lightly with hands to seal.
Cut into 10-12 slices.
Placed slices in greased 8 inch round pan.
Place milk and vanilla in measuring cup and heat in microwave until very warm. Stir in sugar until dissolved. Pour over rolls.
Bake for 30-35 minutes, or until golden brown on top. Once removed from oven, let sit for 5-10 minutes before serving.
Serve warm and enjoy!