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Combine butter and vanilla ice cream in a saucepan and melt.
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Add sugars and heat to boiling, over medium high heat constantly stirring with a whisk.
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Bring to a rolling boil while whisking the entire time for two or three minutes.
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Remove saucepan from burner and let sit for 15 minutes or so to cool down.
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Once cooled put this mixture in to the refrigerator for an hour or so.
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Spray glass baking dish with nonstick spray and arrange the frozen cinnamon rolls evenly in the dish.
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Give the frozen rolls atleast 2 inches on each side for room to expand or as much room as your dish will allow.
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Pour cold caramel mixture over the rolls and set in the oven overnight.
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Store the packet of icing that comes with the rolls in the fridge overnight. You'll use that on top of the rolls once they're cooked in the morning.
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In the morning do not take the rolls out of the oven.
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They will remain in the oven while preheating.
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Bake for 20-30 minutes at 350 degrees until browned on top.
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** I generally halve this recipe and make six cinnamon rolls at a time. When I do that, for example, I cook them for 25 minutes total from the time I turn on the oven.
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Frost those puppies right when you take them out of the oven. Yum!