Preheat your waffle iron; open cinnamon rolls and remove frosting.
In small bowl, whisk together frosting, milk, powdered sugar, & maple syrup until smooth; set aside.
Spray waffle iron with cooking spray; set cinnamon rolls on waffle iron and press down, cooking for approximately 4-5 minutes until cooked. You may have to press down on the iron during cooking if they start to puff up too much. You may need to spray again to prevent sticking after cooking several waffles.
Serve with glaze. Be prepared for much thanks! (And have an extra can on hand just in case!).