Heat oven to 350°F. In small bowl, mix cream cheese and 1/4 cup powdered sugar until well blended; set aside.
Separate dough into 8 biscuits; separate each evenly into 2 rounds. On ungreased cookie sheet, place 8 rounds. Spread each biscuit round on cookie sheet with 1 tablespoon cream cheese mixture to within 1/2 inch of edge.
Top each with 1 rounded tablespoon loosely packed apple and 1 rounded teaspoon dates. Press remaining 8 biscuits halves out slightly. Place each on apple-topped biscuit round; press edges to seal.
Bake 14 to 18 minutes or until golden brown. Meanwhile, blend 1/2 cup powdered sugar with enough milk for desired drizzling consistency until smooth.
Immediately remove rolls from cookie sheet. Drizzle icing over warm rolls.