Heat oven to 350°F. Grease or spray 8- or 9-inch round pan.
Separate dough into 5 rolls. Unroll rolls. Cook bacon until crisp. While bacon is still warm, place 2 slices bacon on top of 1 unrolled roll; roll back up. Repeat to use up rolls and bacon. Place cinnamon rolls in pan.
Bake 25 to 29 minutes or until golden brown.
Spread with icing; serve warm.