Heat oven to 375°F.

Spray 13×9-inch (3-quart) glass baking dish with cooking spray.

Arrange rolls from both cans of dough as evenly as possible in baking dish.

Bake 13 to 17 minutes or until golden brown.

Cool in pan 10 minutes on cooling rack.

Remove rolls from pan to cooling rack to cool completely. Place icing in refrigerator.

Cut each roll into 9 pieces, cutting lengthwise into 3 pieces then cutting each piece into thirds.

Place about half of pieces to evenly cover bottom of baking dish.

In small bowl, combine cream cheese, 2 tablespoons sugar and milk.

Spoon dollops of cream cheese mixture over roll pieces in baking dish.

Layer with remaining roll pieces.

In medium bowl, beat egg mixture with whisk until well blended;

pour evenly over top of cinnamon roll mixture. With back of spoon, gently press roll pieces into egg mixture.

Cover with foil; refrigerate overnight.

Heat oven to 350°F. Uncover;

Bake 35 to 45 minutes or until browned and set in center.

Spoon icing over warm casserole; spread as desired.

Serve warm.