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Preheat the oven to 375°F. Set aside the cinnamon roll icing from the packaged dough. Then, cut the cinnamon rolls into quarters. Brush 4 tablespoons melted butter onto the bottom and sides of a 13x9-inch baking dish. Arrange the cinnamon roll dough pieces in the pan.
In a large mixing bowl, beat the eggs, heavy cream, vanilla and cinnamon together. Pour evenly over the cinnamon roll dough pieces.
In a small bowl, combine the flour, brown sugar, granulated sugar, salt and remaining 6 tablespoons melted butter. Gently mix until all the dry ingredients are moist and clump into large pieces.
Evenly crumble the streusel over the top of the casserole, then drizzle the top with 2 tablespoons maple syrup. Bake for 25 to 30 minutes, until the cinnamon roll pieces are fully baked, the eggs are set and the streusel topping is lightly golden.
Remove promptly and let cool for 15 to 20 minutes. Drizzle the top of the French toast cinnamon roll casserole with the reserved cinnamon roll icing and then cut the casserole into squares. Enjoy warm.