Preheat oven to 375 F. Prepare two baking sheets by covering with parchment paper. Set aside.
In a large bowl, mix the pumpkin puree, brown sugar, granulated sugar, egg yolks, and pumpkin pie spice.
1 cup pumpkin puree, ¼ cup brown sugar, 3 tablespoons granulated sugar, 2 egg yolks, 2 tsp pumpkin pie spice
Open the tubes of crescent roll dough and separate the long triangles. Add 1-2 tablespoons of the pumpkin mixture on the wide end of the dough triangle. Spread it up about 2/3 of the way 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.
2 tubes refrigerated crescent rolls
Place the filled crescent rolls onto the prepared baking sheets, leaving at least 1-inch of space between each roll.
Bake the crescent rolls in a preheated oven at 375 F 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.
While the pumpkin filled mini croissants are cooling, make the frosting. In a small bowl, whisk together the ingredients for the frosting. Start with 1 tablespoon of the heavy whipping cream and add more if needed until the frosting is just thin enough to drizzle. ½ cup powdered sugar, 1-2 tbsp heavy whipping cream, ¼ tsp pumpkin pie spice
Use a spoon to drizzle the frosting over the rolls.