Preheat Oven: Set your oven to 350°F (175°C). Grease a 9x13-inch baking dish with butter or non-stick spray.
Prepare Cinnamon Rolls: Open the tubes of cinnamon rolls and cut each roll into quarters. Spread the pieces evenly across the greased dish.
Make Custard Mixture: In a mixing bowl, whisk together the eggs, milk, maple syrup, vanilla extract, and cinnamon until well combined.
Assemble: Pour the custard mixture evenly over the cinnamon roll pieces, ensuring they are fully coated.
Bake: Place the dish in the oven and bake for 35–40 minutes, or until the top is golden brown and the custard is set.
Finish: While the casserole is still warm, drizzle the included cinnamon roll icing over the top.
Serve: Slice and serve immediately. Enjoy with your favorite breakfast beverages or toppings!