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Using a hand mixer, or stand mixer, beat together cream cheese, powdered sugar, maple syrup, milk and maple extract (optional) until smooth. Set aside.
Heat waffle iron. Spray with non-stick spray. Place one cinnamon roll in the center of waffle maker. Close waffle iron.
Cook for 2 to 3 minutes, or until waffle is cooked through and golden brown.
Continue until all waffles are cooked. Serve warm and drizzle with maple cream cheese syrup!