Heat oven to 350°F. Separate dough into 5 rolls. Bake as directed on can--except do not top with icing; reserve for later in recipe. Cool completely.
Cut each roll in half horizontally. Place 1/2 cup ice cream on bottom half of each roll; top with top half. Place in freezer about 30 minutes for ice cream to freeze.
Just before serving, place the icing in resealable food-storage plastic bag. Cut off tiny corner, and drizzle over rolls. Serve cold.