Heat oven to 350°F. Spray cookie sheet with cooking spray. Unroll dough; separate into 8 triangles.
Unroll fruit snack rolls; cut each diagonally into 2 triangles. Place each fruit roll triangle on 1 dough triangle (fold or tuck each fruit roll so all is on dough). Roll up each dough triangle, starting with shortest side of triangle and rolling to opposite point; place point side down on sprayed cookie sheet. Curve into crescent shape.
Bake at 350°F. for 12 to 15 minutes or until golden brown. Cool 2 minutes; remove from cookie sheet. Meanwhile, in small bowl, mix powdered sugar, vanilla and enough milk until smooth and desired drizzling consistency.