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1 can (12.4 ounces) Pillsbury refrigerated cinnamon rolls with icing
2 eggs
2/3 cup milk
4 tablespoons maple syrup, divided
1 teaspoon vanilla extract
Warm water, as needed

Bake cinnamon rolls as directed on package. Cool completely.

Spray griddle or 10-inch skillet with cooking spray; heat griddle to 375°F or skillet to medium heat. Slice each roll in half crosswise.
In shallow dish, whisk eggs, milk, 2 tablespoons of the maple syrup and the vanilla extract until blended. Dip each cinnamon roll slice into egg mixture, turning to coat completely. Place on griddle. Cook about 2 minutes on each side or until golden brown.

In small bowl, whisk reserved icing, the remaining 2 tablespoons maple syrup and warm water, as needed, to create a pourable consistency. Spoon over French toast.