Step 1

Preheat oven to 350°F. Prepare cinnamon rolls according to package directions, and set aside frosting.

Step 2

While still warm, cut or tear 8 of the cooked cinnamon rolls into bite-sized pieces, discarding remaining 2 rolls or saving for another use. Arrange pieces in a single layer on a large flat surface and allow to cool completely.

Step 3

Add cinnamon roll pieces to a greased 9x13-inch baking dish. Sprinkle on the pecans.

Step 4

In a large bowl, whisk together the milk, eggs, sugar and vanilla. Pour mixture over the cinnamon rolls and press the rolls down with a fork to cover them in the milk mixture. Let set for 20 minutes to soak up some of the liquid.

Step 5

Bake for 40 minutes or until set. Drizzle the reserved frosting over the top and serve.