1. Preheat oven to 375°F. Line a 9x9-inch pan with foil and spray with cooking spray; set aside.
2. Cut each cinnamon roll into 9 pieces. Scatter pieces evenly in the prepared pan, separating them so they don’t stick together. Set aside the icing from the packaging.
3. In a medium bowl, whisk together eggs, pumpkin puree, milk, brown sugar, granulated sugar, pumpkin pie spice, vanilla, cinnamon, and salt until smooth.
4. Pour the pumpkin mixture evenly over the cinnamon roll pieces in the pan.
5. Drizzle the reserved icing over the top. If it’s too thick, microwave for 10 seconds to loosen.
6. Place the pan on a baking sheet and bake for 40 minutes, or until the center is set and the top is lightly golden brown.
7. Cool the casserole slightly on a wire rack while you prepare the glaze.
8. In a medium bowl, whisk together confectioners’ sugar and cream (or milk) until smooth.
9. Drizzle the glaze over the warm casserole. Optionally, serve with vanilla ice cream or whipped topping.