Preheat the oven to 350°F, and lightly grease a 2.5-quart baking dish.
In a large mixing bowl, combine the peach slices, granulated sugar, cornstarch, and ground cinnamon.
32 ounces frozen peach slices, ½ cup granulated sugar, 1 tablespoon cornstarch, ½ teaspoon ground cinnamon
Pour the peach mixture into the prepared baking dish.
Cut the cinnamon rolls into fourths and place them in an even layer over the top of the peaches.
17 ½ ounce package refrigerated cinnamon rolls
Cover the baking dish with aluminum foil and bake for 20 minutes.
Remove the foil and bake for an additional 20 to 25 minutes, or until the cinnamon rolls are lightly browned and the center is set.
While the cobbler bakes, make the icing by combining the powdered sugar, vanilla extract, and milk in a small bowl. Stir until smooth.
½ cup powdered sugar, ½ teaspoon pure vanilla extract, 1 to 2 tablespoons milk
Remove the cobbler from the oven and allow it to cool until just warm.
Drizzle the icing over the cobbler.
Serve warm with vanilla ice cream, if desired.
Notes
*The calories listed are an approximation based on the ingredients in the recipe card and a serving size of about 1-cup of the cinnamon roll peach cobbler. Actual calories will vary.