1 can (17.5 oz) Pillsbury™ Grands!™ refrigerated cinnamon rolls with icing
Heat oven to 350°F. Grease 13×9-inch (3-quart) baking dish with shortening or cooking spray. In 12-inch skillet, melt butter over medium-high heat. Add apples; cook 10 to 12 minutes, stirring frequently, until softened and beginning to brown. Remove from heat.
Meanwhile, in large microwavable bowl, microwave cream cheese and powdered sugar uncovered on High 1 minute, stirring every 30 seconds, until softened. Stir until smooth, then slowly stir in milk. Stir in apple mixture.
Separate dough into 5 rolls; return icing to refrigerator. Cut each cinnamon roll into 6 pieces, and stir into apple mixture. Pour into baking dish.
Bake 26 to 32 minutes or until bubbling around edges and dough is baked through. Let stand 10 minutes. Transfer icing to quart-sized resealable food-storage plastic bag. Cut 1 corner with kitchen scissors, and drizzle over mixture.