Preheat your oven according to the package instructions for the refrigerated cinnamon rolls. Bake them until golden brown, typically around 25 minutes. Let them cool completely on a wire rack.

Grease a 9 x 13-inch baking dish with butter or non-stick spray.

Once cooled, slice each cinnamon roll into four even pieces and distribute them in the greased baking dish.

In a large bowl, whisk together the whole milk, heavy cream, eggs, brown sugar, and vanilla extract. Stir in chopped pecans if desired.

Pour the custard mixture over the cinnamon roll pieces and gently stir to coat. Let sit for 20 minutes.

Preheat your oven to 350°F (180°C) while the casserole rests.

Bake for approximately 35-45 minutes until the top is golden brown and the center is set.

Let it cool slightly, drizzle with glaze, and serve warm.