Open the cinnamon rolls and cut each roll into four pieces.
In a bowl, whisk together eggs, milk, vanilla, and cinnamon.
Dip each cinnamon roll piece into the mixture until coated.
Heat butter or oil in a skillet over medium heat.
Cook the coated pieces for 2–3 minutes per side until golden brown.
Drizzle with the icing from the can or add your favorite toppings before serving.