Heat oven to 375°F Pour melted butter into 13x9-inch (3-quart) glass baking dish.

Separate both cans of refrigerated cinnamon rolls. Cut each roll into 4 equal parts. Add these pieces to the baking dish.

In a medium bowl, beat eggs, milk, cinnamon and vanilla. Pour the liquid over the cut cinnamon rolls.

Sprinkle mixture with pecans and drizzle maple syrup over the top.

Cover the dish with foil and bake in a preheated oven at 350 for 20 to 25 minutes or until golden brown.

Place the icing bags in warm water until the icing is melted. Drizzle the icing evenly over the top of the casserole. Serve.