Heat waffle iron to medium-high or medium/dark setting.
Lightly spray waffle iron with cooking spray.
Place one cinnamon roll in middle of waffle iron.
Close and heat until cooked through and golden brown.
In a small mixing bowl, stir prepared sweet glaze (included in refrigerated cinnamon rolls dough) with room temperature cream cheese. Add milk, stir in one teaspoon at a time, until desired consistency. Glaze should be thick but pourable, add more milk as necessary.
Recipe Tweaks & Tips
*Cinnamon Roll Waffles freeze beautifully! Make ahead for large gatherings or for easy weekday breakfasts. Freezing directions: Prepare waffles according to recipe, when completely cooled, place in freezer bags and store waffles in freezer for up to 6 weeks. Thaw overnight, reheat waffles in 325 degree oven for 5-7 minutes. For icing: Freeze icing packet included in refrigerated cinnamon roll dough container before adding other ingredients. Thaw icing packet in refrigerator overnight and prepare per recipe directions the following morning. Drizzle over warm waffles.
*Add a citrus twist to cream cheese glaze with a pinch of minced orange zest
*For breakfast sliders: Combine scrabbled eggs with chopped bacon, chives, and shredded cheddar cheese. Scoop mixture onto one waffle, top with another waffle to make a slider sandwich. Drizzle cream cheese glaze over fresh berries or grapefruit and enjoy!