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Preheat oven to 350 degrees.
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Remove cinnamon rolls from packages and cut each roll into sixths.
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Drizzle melted butter in 9×13 inch pan.
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Spread cinnamon roll pieces evenly in pan.
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In a separate bowl, combine eggs, milk, cinnamon, and vanilla. Whisk until combined.
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Pour egg mixture over cinnamon rolls.
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Bake at 350 degrees for 30-35 minutes or until top of casserole is golden brown and center is set.
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Prepare icing by combining reserved cinnamon roll icing with ½ c. powdered sugar, 2 Tbsp. softened cream cheese, and 1 Tbsp. milk. Whisk until smooth.
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Pour icing evenly over casserole.