1. Preheat your oven to 375°F (190°C).
2. Grease an 8×8 inch baking dish with melted butter or cooking spray to prevent sticking.
3. Open the canned cinnamon rolls and cut them into bite-sized pieces.
4. Arrange the cinnamon roll pieces evenly in the prepared baking dish.
5. In a large mixing bowl, whisk together eggs, milk, vanilla extract, ground cinnamon, and maple syrup to create the cinnamon custard.
6. Pour the cinnamon custard mixture evenly over the cinnamon roll pieces, ensuring each piece is well coated.
7. Bake in the oven for approximately 25 minutes until the top is golden brown and set.
8. Remove the dish from the oven and allow it to cool slightly before serving.
9. Drizzle the cinnamon roll icing (reserved icing packet) over the baked casserole for added sweetness. You can mix the icing with a little maple syrup and warm water to achieve a syrup-like consistency if desired.
10. Serve warm and garnish with toppings such as maple syrup, fresh fruit, whipped cream, or a drizzle of Nutella for added flavor.