Preheat oven to 375F. Prepare two baking sheets by covering with parchment paper; set aside.

In a medium mixing bowl, mix together the pumpkin puree, brown sugar, granulated sugar, 2 egg yolks, and pumpkin pie spice until well combined.

Open the tubes of crescent roll dough and separate each triangle. Scoop about 1-2 tablespoons of the mixture onto the side end of each crescent roll triangle, then use a spoon to spread about 2/3 of the way up toward the point of the triangle (but do not spread all the way to the point). Roll the crescent rolls up starting at the wide end and moving to the point.

Place the filled crescent rolls onto the prepared baking sheets, leaving at least 1-inch of space between each roll.

Bake the crescent rolls at 375F for 10-12 minutes until golden brown.

Remove the rolls from the oven and transfer to wire cooling racks. Cool at room temperature for 10 minutes.

In a small bowl, whisk together the ingredients for the frosting. Start with 1 tablespoon of the heavy cream and add more if needed until the frosting is just thin enough to drizzle.

Use a spoon to drizzle the frosting over the rolls.