For best results, bake the cinnamon rolls according to package directions one day ahead of time.
Cut the cinnamon rolls into cubes and place them in a large bowl.
In a separate bowl, mix together all remaining pudding ingredients.
Pour the mixture over the cinnamon roll pieces and gently mix until well coated.
Let the mixture soak for 30 minutes.
Transfer to a greased casserole dish.
Bake uncovered at 350°F for 40 minutes.
While the pudding bakes, beat the frosting ingredients together with a mixer until smooth. Add additional milk as needed for a thinner consistency.
Immediately pour the frosting over the warm cinnamon roll pudding and enjoy!