Fill a pan with around 2 inches of vegetable oil and heat to 350 degrees over medium heat.

Fold the crescent dough in half in one direction and then in half in the other. Cut about 3-inch circles from the dough using a biscuit cutter or a cup/glass.

Cut about 1-inch circles from the center of each 3-inch shape. Reserve the 1-inch circles to cook as cronut holes.

Gather up scraps, roll, and cut an additional cronut from the dough.

Fry the donuts for about 90 seconds on each side until golden brown. Drain on paper towels and allow to cool before glazing.

Mix the powdered sugar, vanilla, and 1 tablespoon of milk for the glaze, adjusting the milk as needed for desired consistency.

Split a cooled cronut in half and fill with 2 tablespoons of pudding, then replace the top.

Drizzle the top with the prepared glaze and allow it to set before serving.