In a small mixing bowl, cream butter and confectioners’ sugar. Beat in milk and vanilla. Gradually add cocoa; mix well. Stir in pecans.
Unroll crescent dough and separate into triangles. Spread about 2 rounded teaspoons of filling over each triangle to within 1/4 in. of edges. Roll up each from the wide end. Place point side down 2 in. apart on ungreased baking sheets. Curve ends to form crescent shapes.
Bake at 375° for 12-15 minutes or until golden brown. Remove to wire racks; cool slightly. In a small bowl, whisk glaze ingredients until smooth; drizzle over crescents. Yield: 16 servings.