Cream-filled crescent rolls are an indulgent Mexican bakery treat. This family-friendly pastry is a flaky, sweet, creamy confection perfect for breakfast or snacking.
Warm the milk until just above room temperature (about 105°F), taking care not to overheat. Dissolve the yeast and a pinch of sugar in the milk; let stand 5 minutes until bubbly.
In a large bowl, combine flour, the rest of the sugar, and salt. Cut in 4 tbsp of cold butter until the mixture resembles coarse crumbs.
Whisk together 1 egg and vanilla extract, then add to flour mixture along with the milk-yeast mixture. Knead until a smooth, slightly tacky dough forms; about 10 minutes. Cover and let rise until doubled, 60–90 minutes.
On a floured surface, roll dough into a large rectangle, about ¼-inch thick. Dot with remaining 2 tbsp of softened butter. Fold and roll three times (letter fold) for flakiness. Chill dough 30 minutes.
Cut dough into 8 triangles. Roll each triangle from wide to tip, shaping into crescents. Place on parchment-lined baking sheet, cover, and let rise 40 minutes.
Preheat oven to 375°F. Brush crescents with beaten egg. Bake 17–20 minutes or until golden brown and flaky. Let cool on a wire rack.
Fill a piping bag with pastry cream. Once rolls are completely cool, insert the tip into the base and fill until cream just begins to ooze.
Dust crescents lightly with powdered sugar before serving.