Preheat oven to 375°F and prepare your baking sheet by lining it with parchment paper or a non-stick baking mat. Add granulated Splenda and cinnamon to a small bowl. Stir to combine the ingredients.
Unroll the can of reduced-fat crescent rolls and separate them into individual triangles. I used a sharp knife to cut along the perforated lines.
Sprinkle the cinnamon mixture onto the crescent rolls.
Starting at the wide end of each triangle, roll them up tightly toward the pointed end, forming a crescent shape.
Arrange the rolled crescent rolls evenly on the prepared baking sheet. Lightly spray the tops with cooking spray and sprinkle on more of the cinnamon mixture.
Place the baking sheet in the preheated oven and bake for 10-12 minutes, or until the crescent rolls are golden brown and flaky.
Remove the baking sheet from the oven and let the churros cool slightly on a wire rack.