Step 1

Build campfire, and let burn until most of the large flames have subsided; place campfire-approved cooking grate at least 6 inches above fire.

Step 2

Spray 10-inch seasoned cast-iron skillet with cooking spray. Arrange cinnamon rolls in skillet; set icing aside. Place skillet on cooking grate.

Step 3

Cook cinnamon rolls over moderate heat 11 to 16 minutes, turning every 2 to 3 minutes (rotating pan if necessary), until rolls are golden brown and cooked through.

Step 4

To serve, top rolls with icing from can. Cool 5 minutes before serving.