Heat oven to 375°F. Grease cookie sheet. In small bowl, combine graham cracker crumbs, brown sugar and walnuts; mix well. Set aside.
Separate dough into 8 triangles. Sprinkle coconut evenly on triangles. Place candy piece on each triangle. Roll up, starting at shortest side of triangle, rolling to opposite point. Pinch all edges to seal.
Dip each filled crescent in melted butter; coat with crumb mixture. Place on greased cookie sheet.
Bake at 375°F. for 12 to 18 minutes or until golden brown. Remove from cookie sheet. Cool 10 minutes.
In small bowl, combine frosting and milk; blend well. Drizzle over rolls. Serve warm.