Preheat oven to 350 degrees F. and butter a 13 x 9 inch. or 8 x 8 inch baking dish. Place cinnamon roll pieces evenly in the baking dish.
In a medium mixing bowl, whisk together the milk, eggs, vanilla extract, syrup and cinnamon until combined.
Pour the egg mixture evenly on the cinnamon rolls. Melt one of the icings and pour over the cinnamon rolls. Bake for 45 minutes if using a 13 x 9 inch dish and 1 hour if using a 8 x 8 inch dish. The cinnamon rolls will be golden brown and your house is going to be smelly amazing! Pour the other icing over the rolls and enjoy!
Notes
Tip- If you see the top of the cinnamon rolls browning before the cook time is over, place foil on top to ensure the bottom of the rolls will still continue to bake and the rest won't burn.