Stir together the cream cheese, powdered sugar and vanilla and set aside.
Remove crescent roll dough from packaging but DO NOT UNROLL THE DOUGH. Using a sharp knife, cut the dough into 8 sections, about 3/4 inch thick. Place the dough sections on a parchment lined or lightly greased baking sheet. Create an indentation in the center or each dough section for your cream cheese mixture. I use a lightly floured shot glass bottom to do this.
Place 1 rounded tablespoon of the reserved cream cheese mixture onto each dough section. A small cookie scoop works well.
Bake in a preheated 375 oven for 14-17 minutes until the dough is golden brown.
While danishes are baking, create your icing. Combine powdered sugar and milk until completely smooth.
Drizzle over the warm danishes.