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Preheat oven to 375°F.
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Cut cinnamon roll dough into 3 even strips, then cut those strips into 3 pieces, for a total of 9 pieces per cinnamon roll. Set aside the icing.
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In a medium bowl, combine eggs, milk, cinnamon, and extract, stirring until smooth. Set aside.
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In a pan over medium-high heat, combine butter, apples, and brown sugar, cooking until sugar starts to caramelize, about 10 minutes. Remove from heat.
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Sprinkle the cinnamon roll dough pieces evenly into a 9×9 inch baking tray. Pour the egg mixture on top, followed by the apples. Drizzle the reserved icing on top.
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Bake for 25–30 minutes, until golden brown. Serve with ice cream if desired.