Preheat waffle iron according to manufacturers directions.

Lightly spray waffle iron with non-stick cooking spray.

Place 1 cinnamon roll in each quadrant of the waffle maker. Close the waffle iron and cook for the amount of time called for in manufacturers instructions (probably 3-4 minutes).

Heat the icing that comes with the cinnamon rolls for about 15 seconds in the microwave and pour over each piece. Depending on the brand of cinnamon rolls you buy, you may need to put the icing in a bowl before heating.

Serve warm.