Heat oven to 375 degrees. Prepare a cookie sheet by spraying with cooking spray or lining with parchment paper.
In a small bowl, combine the pecans, sugars, and cinnamon. Set aside.
Unroll both cans of crescent dough and separate each can into 4 rectangles (2 of the crescent triangles together). Firmly press together the perforations to seal the 2 crescent triangles together. You will end up with 8 rectangles of dough.
Brush each rectangle with some melted butter and sprinkle a heaping 1 tablespoon of the pecan/sugar mixture over the butter. Repeat for each rectangle. Starting at the long side of the rectangle, roll up tightly just like cinnamon rolls. Pinch edges to seal.
Take a sharp knife and cut each roll in half LENGTHWISE. You will end up with 2 rope twists from each rectangle. Take the two pieces and twist them around each other. Place on the prepared cookie sheet. Repeat this process with the remaining pieces.
Bake for 10-13 minutes or until puffy and golden brown. Let cool for about 10-15 minutes before glazing.
To prepare the glaze: mix all ingredients together in a small bowl until desired consistency is reached. Add more or less milk and/or powdered sugar depending on how thick or thin you want the glaze.
I used heavy cream so I needed closer to 2 tablespoons of milk because of the higher fat content, so the milk is thicker. If you use fat-free milk or 1%, you will probably only need about 1 tablespoon because the fat content is lower and the milk is thinner. Regardless of what milk you use, start with 1 tablespoon and work from there.
Recipe adapted and found at Pillsbury