Open both cans of cinnamon rolls and separate the dough into 16 rolls. Cut each cinnamon roll into 4 pieces.

Layer the cinnamon roll pieces in the bottom of a 9X12 casserole dish that's been sprayed with non-stick baking spray.

Set aside while you prepare the cream cheese mixture.

In the bowl of a KitchenAid mixer with the paddle attachment, beat the softened cream cheese, sugar, milk and maple sugar until smooth.

Add the cream cheese mixture to the top of the cut up cinnamon rolls.

Bake in a preheated 375 degree oven for about 20 to 24 minutes. About halfway through the cooking, remove the casserole from the oven and spread the cream cheese mixture over the cinnamon rolls using the back of a spoon.

Remove from oven and allow the breakfast casserole to cool for a few minutes while you prepare the icing that comes with the canned cinnamon rolls.

Add the two cans of icing to a microwavable measuring cup. Heat in 15 second intervals until the icing is pourable. Be careful not to overheat!

Pour the icing over the breakfast casserole.

Serve immediately.