Preheat your oven to 350°F (180°C). Line two baking trays with parchment paper and set aside.

In a small bowl, combine the dark brown sugar, walnuts, cinnamon, and salt until combined, then set aside.

Next, roll the puff pastry untill it is approximately 14x10 inches in length (35.5 x 25cm).

Brush the pastry with the softened butter, getting all the way to the ends.

Sprinkle the cinnamon sugar mixture evenly on top of the buttered pastry.

Next, starting on both long edges, tightly roll the pastry till both rolls meet in the middle.

Using a sharp serrated knife, slice the logs into ¼-inch (0.5 cm) cookies. They will look a bit like bicycle wheels. It’s okay if the first few are not perfect (the ends never are). You can mold them slightly once they are on the tray.

Gently place the cookies onto the parchment-lined sheets, about 1 inch (2.5 cm) apart, being careful not to break them (they are quite fragile).

Bake on the middle rack for 15-20 minutes or until the pastry is lightly golden and the filling is bubbly.

Whisk together the confectioners’ sugar, milk, and vanilla until smooth. You should have a mixture that is thick but thin enough to be drizzled. You can adjust the consistency by adding more milk if necessary.

Drizzle the warm cookies with the glaze, and let them cool completely before serving. Store palmers in an air-tight container at room temperature for up to 5 days.