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Slice the cinnamon rolls into quarters, reserving the pre-made icing.
Butter the bottom and sides of the slow cooker or use non-stick cooking spray (*See note below). Arrange half the cinnamon rolls in a single layer at the bottom.
Add the apples, and top with remaining cinnamon roll pieces.
In a large measuring cup, whisk the eggs, heavy cream, cinnamon, and vanilla extract until smooth. Pour the custard over the cinnamon rolls.Add the condensed milk.
Cover, and cook on high for 3-4 hours or until the custard is set and the top of the rolls are light golden brown.
Once cooked, drizzle with the reserved icing. Serve warm with a scoop of ice cream, if desired!