Unroll crescent dough into one rectangle; seal perforations. Combine sugar and cinnamon; sprinkle over dough. Roll up jelly-roll style, starting with a short side; pinch seam to seal. Using a serrated knife, cut into four slices.
Place rolls, pinched side down, in ungreased muffin cups. Bake at 375° for 10-12 minutes or until golden brown. Cool for 5 minutes before removing from pan to a wire rack. In a small bowl, combine confectioners' sugar and orange juice; drizzle over rolls.