Heat oven to 350°F.
Separate dough into 5 rolls. Place each roll in small round baking dish, or place all rolls side by side in cast-iron skillet. Press 2 tablespoons chocolate chips and 2 tablespoons toasted coconut in top of each roll.
Bake 10 minutes. Spoon some of icing on each. Sprinkle with additional chocolate chips and coconut. Bake 10 minutes longer or until golden brown.
Top each with scoop of vanilla ice cream. Drizzle with remaining icing and toasted coconut. Serve immediately.