Preheat your oven to 350°F (175°C).
Grease a 9x13 inch baking dish.
Open the cans of cinnamon rolls and cut each roll into quarters.
In a large bowl, whisk together eggs, milk, vanilla, and ground cinnamon.
Add the cut cinnamon rolls to the egg mixture and gently stir to coat.
Pour the mixture into the prepared baking dish, spreading it evenly.
Sprinkle brown sugar and nuts over the top.
Bake in the preheated oven for 30-35 minutes until golden brown.
Remove from the oven and allow to cool slightly.
Drizzle with icing before serving.