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Prepare the pan: Grease a 9×13-inch baking dish with butter or cooking spray. Arrange the Pillsbury cinnamon rolls inside, leaving a little space between them so they can rise while baking.
Mix the cream base: In a small bowl, whisk together 1 cup of heavy cream, 1 tablespoon vanilla extract, and ½ teaspoon salt. Pour this mixture evenly over and around the cinnamon rolls so it seeps into the dough.
Make the glaze: In another bowl, combine 6 tablespoons melted butter, ¾ cup dark brown sugar, 2 ½ teaspoons cinnamon, and ¼ teaspoon nutmeg. Stir until smooth. If too thick, add a splash of heavy cream. Drizzle this glaze over the rolls.
Bake the rolls: Cover the baking dish with foil and bake at 350°F (175°C) for 25 minutes. For a slightly crisp top, remove the foil for the last 5 minutes of baking.
Prepare the icing: While the rolls bake, beat together 8 oz softened cream cheese, the Pillsbury frosting packet, 1 cup powdered sugar, 2 tablespoons maple syrup, and ½ teaspoon almond extract. Add a little milk if needed until smooth and spreadable.
Finish and serve: Remove rolls from the oven and let cool for 5 minutes. Spread the cream cheese icing generously over the warm rolls, allowing it to melt into the swirls. Serve immediately and enjoy bakery-style cinnamon rolls at home.