1. Preheat your oven to 375 F (190 C). Line a baking sheet with parchment paper or a silicone baking mat.

2. Open the can of sourdough crescent rolls. Carefully unroll the dough and separate it into the individual triangles along the perforations. You should have eight triangles.

3. Spoon approximately 1-2 tablespoons of the peach pie filling onto the wider end of each crescent roll triangle. Do not overfill.

4. Starting from the wide end with the filling, carefully roll each crescent triangle towards the pointed end. Gently pinch the seams to seal the filling inside and shape them into classic crescent rolls.

5. Arrange the filled crescent rolls on your prepared baking sheet, leaving a little space between each. Bake for 15-18 minutes, or until they are golden brown and puffed up.

6. While the rolls are baking, combine the melted butter, granulated sugar, and ground cinnamon in a small bowl. Stir until well combined.

7. As soon as the rolls come out of the oven, immediately brush the warm cinnamon sugar mixture generously over the tops of each roll.

8. In another small bowl, whisk together the powdered sugar, milk or cream, and vanilla extract until smooth and drizzle-able. If the glaze is too thick, add a tiny bit more milk; if too thin, add a little more powdered sugar. Drizzle the glaze over the warm, cinnamon-sugar-coated rolls right before serving.