Unroll both cans of crescent roll sheets. Cut each sheet into two 12" by 4" rectangles.
Spread butter evenly on all four rectangles. In a small bowl, mix together powdered sugar, brown sugar, and cinnamon. Sprinkle evenly on top of buttered crescent roll sheets.
Sprinkle 1 tablespoon of orange zest on top of sugar mixture. Roll each rectangle lengthwise and pinch edges to seal.
Using a serrated knife, cut 2" cinnamon rolls and place swirl-side down in a mini-muffin pan (sprayed with nonstick baking spray).
Bake 14-16 minutes or until golden brown.
To make glaze, whisk together powdered sugar, orange juice, vanilla extract and remaining orange zest. Drizzle over mini crescent cinnamon rolls.
Notes
For traditional cinnamon rolls, omit the orange zest and swap milk for the orange juice in the glaze.