Preheat oven to 350 F.
Open the cans of cinnamon rolls; set icing aside. Separate cinnamon roll rounds and cut each into quarters.
In a medium sized bowl, beat together the pumpkin, eggs, milk and pumpkin pie spice.
In a 13x9 baking pan (preferably nonstick), evenly distribute the cinnamon roll pieces. Pour the pumpkin mixture over top and stir until evenly coated. Bake in preheated oven for 35 minutes, until golden brown.
Remove from the oven. Drizzle with reserved frosting and serve warm with maple syrup.