Preheat oven to 350 degrees F. Grease and 8-inch baking dish; set aside.
Peel and core apples. Cut each apple into fourths.
Roll crescent rolls out on a cutting board and separate each. Wrap one apple piece in each crescent roll and place in prepared baking dish. Sprinkle cinnamon over tops of crescent rolls.
In a medium sauce pan, add butter, sugar and orange juice. Bring mixture to a boil. Remove from heat and stir in vanilla extract.
Pour liquid mixture over crescent rolls and sprinkle pecans on top of crescent rolls.
Bake 30 minutes, or until tops of crescent rolls are golden brown and liquid is beginning to bubble.
Remove from heat and let sit 5 minutes.
Spoon dumplings on to a plate and spoon some of the syrup over the top.
Serve warm and with ice cream, if desired.