Arrange the refrigerated cinnamon rolls in a single layer in the prepared baking dish. Do not separate the rolls.
In a medium bowl, whisk together the 1 cup milk, eggs, vanilla extract, granulated sugar, and 1/4 teaspoon ground cinnamon until combined. This is your custard base.
Pour the custard mixture evenly over the cinnamon rolls in the baking dish.
Cover the dish tightly with plastic wrap. Refrigerate for at least 4 hours, or preferably overnight.
When ready to bake, preheat your oven to 350 degrees Fahrenheit. Remove the plastic wrap.
Bake for 30 to 35 minutes, or until the casserole is puffed and the center is set.
While the casserole cools slightly, whisk together the powdered sugar and 1 tablespoon milk in a small bowl to create a simple glaze.
Drizzle the glaze over the warm cinnamon roll casserole before serving.
Notes
For a crockpot cinnamon rolls version, place the assembled casserole in a lightly greased slow cooker. Cook on low for 3 to 4 hours or on high for 1.5 to 2 hours.
If you want a richer flavor, substitute heavy cream for half of the milk in the custard.
This recipe uses canned dough for an easy brunch bake experience.