Preheat the oven to 350°F and use parchment paper to line a baking sheet.
Open the dough tubes but don’t unroll them.
Mix the lemon, cream cheese, sugar, and vanilla, until well combined.
Cut the crescent roll dough (still rolled up) into ½ or ¾-inch thick slices.
Arrange them on the baking sheet.
Use your fingers to shape a slight raised up edge on each slice to hold in the filling.
Mix the melted butter with brown sugar, then brush this over the slices with a pastry brush.
Divide the filling between the dough slices.
Bake for about 15 minutes or until a little golden brown.
Mix the vanilla and powdered sugar in a bowl, then stir in the milk.
Drizzle this glaze over the baked Danish pastries.