Preheat oven to 350 degrees F and line a baking sheet with parchment.
To make pumpkin cream cheese danish, start by making the cream cheese filling by combining cream cheese, sugar, and vanilla extract in a bowl. Set aside.
In a separate bowl, make the pumpkin filling by combining pumpkin, sugar, vanilla extract, pumpkin pie spice, and egg.
Remove the crescent roll dough from the package, but keep it rolled up and slice each log it into 8 slices. Flatten each piece of dough and stretch it out slightly. Place the circles of dough on the prepared baking sheet.
Spoon about 1 tablespoon of cream cheese filling on top of each circle of dough and top with 1 tablespoon of pumpkin filling. Lightly spread the fillings out.
Bake for 12-14 minutes or until danishes are lightly browned.
While the danishes bake, make the glaze by combining powdered sugar, vanilla extract, and milk. Allow the danishes to cool slightly before drizzling the glaze over top. Enjoy!