Spray a 9x13-inch baking dish with cooking spray. Cut each cinnamon roll into quarters and arrange in the prepared dish. Set icing packets aside.
In a large bowl, whisk together eggs, heavy cream, vanilla, cinnamon, and maple syrup until well combined.
Pour egg mixture evenly over cinnamon roll pieces. Press down gently with a spatula to ensure all pieces are coated. Sprinkle pecans on top if using.
Cover tightly with foil and freeze for up to 2 months, or bake immediately.
To bake from frozen: Thaw overnight in refrigerator. Let sit at room temperature for 30 minutes. Preheat oven to 350°F.
Bake covered for 25 minutes, then uncover and bake for 10 more minutes until golden and set.
Drizzle with reserved icing while warm. Serve immediately and watch your family's faces light up!