Preheat the oven to 375°F. Grease a 9x13-inch baking dish.
Open the cinnamon roll cans and cut each roll into quarters. Place the pieces evenly in the prepared baking dish.
In a large bowl, whisk together the eggs, milk, vanilla extract, ground cinnamon, and salt until well combined.
Pour the egg mixture evenly over the cinnamon roll pieces in the baking dish. Gently press down to ensure all pieces are coated.
Sprinkle chopped pecans over the top, if using.
Bake in the preheated oven for 25-30 minutes, or until the center is set and the top is golden brown.
Remove from the oven and let cool for 5 minutes. Drizzle the icing from the cinnamon roll cans over the top before serving.
Serve warm with maple syrup on the side.