Preheat the Oven: Preheat oven to 350°F (175°C) and grease a 9-inch round baking dish.
Prepare the Dough: On a lightly floured surface, roll out the crescent dough to form a rectangle. If using perforated dough, pinch seams to seal.
Make the Blueberry Filling: In a small bowl, mix blueberries, granulated sugar, lemon zest, vanilla extract, and cornstarch until blueberries are evenly coated.
Fill and Roll the Dough: Spread the blueberry mixture evenly over the dough, leaving a 1/2-inch border around the edges. Roll up the dough tightly from the long side and slice into 1-inch rolls.
Arrange and Bake: Place the rolls, cut side up, in the prepared baking dish. Bake for 20–25 minutes, or until golden and the blueberries are bubbling. Allow to cool slightly.
Make the Glaze: In a small bowl, whisk together powdered sugar, milk, and vanilla extract until smooth.
Serve: Drizzle glaze over the warm rolls. For an extra burst of flavor, sprinkle additional lemon zest over the glaze before serving.