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, brown sugar, vanilla extract, and ground cinnamon.
Add the quartered cinnamon rolls to the egg mixture and gently stir to coat.
Pour the mixture into the prepared baking dish, spreading it evenly.
Drizzle maple syrup over the top and sprinkle with chopped pecans if desired.
Bake in the preheated oven for 25-30 minutes or until golden brown.
Remove from the oven and let cool for a few minutes.
Drizzle with icing from the cinnamon roll cans before serving.