In small bowl, combine brown sugar, 1/4 cup peanut butter and margarine; blend well.
On lightly floured surface, unroll each can of dough into a large rectangle. Spread peanut butter mixture evenly over rectangles. Separate into 16 triangles. Roll up and place, point side down, on greased cookie sheets; curve into crescent shape. Bake at 375°F. for 10 to 14 minutes or until golden brown. Cool 10 minutes.
In small bowl, combine all glaze ingredients, and blend until smooth. Drizzle over warm rolls.