Gather your ingredients.
Heat your waffle maker. Spray with nonstick cooking spray.
Remove cinnamon rolls from can and place one in the center of your waffle maker.
Cook for 3-4 minutes, or until waffle is golden brown. Repeat with all the cinnamon rolls.
For your cream cheese glaze, mix together cinnamon roll icing and powdered sugar in a bowl.
Stir in milk.
Stir in vanilla until mixture is smooth.
Serve icing over your hot cinnamon roll waffles!
Enjoy! Recipe inspired by: www.pillsbury.com/recipes/cin…