Step 1: Preheat the Oven

1. Preheat your oven to 375°F (190°C).
2. Prepare a baking sheet by lining it with parchment paper. This will prevent the crescents from sticking and make cleanup easier.

Step 2: Prepare the Pumpkin Filling

1. Mix the filling: In a small mixing bowl, combine 1/2 cup of canned pumpkin puree, 2 tablespoons of packed brown sugar, 1/2 teaspoon of ground cinnamon, and 1/4 teaspoon of ground nutmeg. Stir well until the mixture is smooth and well combined.
2. Taste test: Give the pumpkin filling a quick taste to ensure the flavors are balanced. If you like a stronger spice flavor, feel free to add a pinch more cinnamon or nutmeg.

Step 3: Assemble the Crescents

1. Unroll the crescent dough: Open the can of crescent rolls and carefully unroll the dough. Separate it into 8 individual triangles following the perforations.
2. Add the filling: Place about 1 tablespoon of the prepared pumpkin filling onto the wide end of each dough triangle. Spread it slightly, but avoid getting too close to the edges to prevent the filling from leaking out when you roll the crescents.
3. Roll the crescents: Starting from the wide end where the filling is, roll the dough towards the point of the triangle. Tuck the ends if needed to keep the filling inside. Arrange the rolled crescents on the prepared baking sheet, spacing them about 2 inches apart.

Step 4: Bake the Crescents

1. Bake: Place the baking sheet with the crescent rolls in the preheated oven. Bake for 10-12 minutes, or until the crescents are golden brown and puffed. Keep an eye on them towards the end to avoid over-browning.
2. Cool slightly: Once baked, remove the crescents from the oven and allow them to cool for 2-3 minutes on the baking sheet. This will help the filling set a little before you serve them.

Step 5: Make the Icing (Optional)

1. Whisk the icing: In a small bowl, whisk together 1/2 cup of powdered sugar, 1 tablespoon of milk, and 1/4 teaspoon of vanilla extract until smooth. If the icing is too thick, add a tiny splash more milk to reach your desired consistency.
2. Drizzle the icing: Once the crescents have cooled slightly, use a spoon to drizzle the vanilla icing over the top of each crescent. You can be as generous as you like with the icing!

Step 6: Serve and Enjoy

1. Serve warm: These Pumpkin Pie Crescents are best enjoyed warm while the filling is soft, and the crescent rolls are flaky and golden.
2. Pairing suggestion: Serve with a cup of coffee, hot cocoa, or even a pumpkin spice latte for the ultimate fall treat.