Preheat your oven to 350°F (175°C) and grease a 9x13-inch baking dish with spray or cooking oil.

Next, open the cinnamon roll cans and cut each roll into 4 equal pieces.

Place the cut-up cinnamon rolls in the greased baking dish, spreading them out evenly.

In a large bowl, whisk together the eggs, milk, brown sugar, vanilla extract, ground cinnamon, orange zest (if using) and cardamom (if using), and salt.

Pour the custard mixture evenly over the cinnamon rolls, making sure the rolls are coated well.

Bake the casserole in the preheated oven for 25-30 minutes, or until the rolls are golden brown and cooked through.

While the casserole is baking, add the icing that came with the cinnamon rolls in a large bowl with the cream cheese, heavy cream, vanilla extract, and orange juice. Beat on medium low until the frosting is smooth.

Once the casserole is done, let it rest for about 10 minutes. Then, add the frosting evenly.

Serve the cinnamon roll casserole with fruit or bacon and eggs and enjoy!