Preheat your oven to 375°F (190°C) and prepare a 9x9-inch baking pan by lining it with aluminum foil and spraying with cooking spray.

Open the cinnamon roll dough tubes and cut each roll into three even strips, then slice each strip into three pieces.

In a mixing bowl, whisk together eggs, pumpkin puree, and milk until combined. Add in brown sugar, granulated sugar, pumpkin pie spice, vanilla extract, cinnamon, and salt.

Pour the pumpkin mixture evenly over the scattered cinnamon roll pieces in the prepared pan.

Drizzle the icing over the pumpkin mixture. If needed, microwave the icing briefly for easier drizzling.

Bake for approximately 40 minutes until set in the center and lightly golden brown.

Allow to cool for about 10 minutes before mixing confectioners' sugar with cream or milk and drizzling over the warm bake.