Prep the Pan: Preheat your oven to 375°F (190°C). Line a 9×9-inch baking pan with foil and spray with cooking spray. Set aside.
Prepare the Cinnamon Rolls: Cut each cinnamon roll into 9 pieces by first slicing into 3 even strips, then cutting each strip into 3 pieces. Scatter the pieces evenly in the prepared pan, ensuring they are separated to prevent sticking. Set the pan aside, along with the icing from the cinnamon roll packages.
Make the Pumpkin Mixture: In a medium bowl, whisk together the eggs, pumpkin puree, milk, brown sugar, granulated sugar, pumpkin pie spice, vanilla extract, cinnamon, and salt until smooth.
Combine and Bake: Pour the pumpkin mixture evenly over the cinnamon rolls in the pan. Drizzle with the packaged icing (microwaving it for 10 seconds if needed to make it easier to drizzle). Place the pan on a baking sheet to catch any overflow and bake for about 40 minutes, or until the center is set and the top is lightly golden.
Make the Frosting: While the bake cools on a wire rack, prepare the frosting. In a medium bowl, whisk together the confectioners’ sugar and 2 tablespoons cream (or milk) until smooth. Adjust the consistency as needed.
Finish and Serve: Drizzle the frosting over the cinnamon roll bake. Optionally, serve with vanilla ice cream or whipped topping. Serve immediately and enjoy!