Preheat oven to 375 degrees F. Lightly coat twenty-four 1 3/4-inch muffin cups with cooking spray; set aside. Reserve 2 tablespoons of the almonds. For filling, in a small bowl stir together the remaining 2 tablespoon almonds, the butter, honey, and cinnamon; set aside.
Unroll crescent dough and cut into two equal rectangles, or if using regular crescent roll dough, pinch together seams of dough pieces to form two equal rectangles.
Spread filling over dough rectangles, leaving about 1/4 inch unfilled along the long sides. Starting from a long side, roll up each dough rectangle. Pinch dough to seal seams. Slice each rolled rectangle into 12 equal pieces. Place a piece, cut side up, in each prepared muffin cup.
Bake about 10 minutes or until golden. Cool in muffin cups for 1 minute. Carefully remove rolls from muffin cups and arrange on a serving platter; cool slightly. Drizzle warm rolls with Honey Icing. Sprinkle with the reserved 2 tablespoons almonds.
In a small bowl stir together powdered sugar, honey, and the 1 tablespoon milk. If necessary, stir in additional milk, 1 teaspoon at a time, to reach drizzling consistency.