Separate dough into 5 rolls; place each in ungreased regular-size muffin cup. (Discard icing or save for a future use.) Bake as directed on can.
While warm and still in muffin cups, gently press small cup or shot glass down into each warm cinnamon roll, making sure not to go through to bottom. Cool about 15 minutes.
Run knife around edge of each cup; remove cinnamon roll cups from pan to cooling rack.
Dip top edge of each cinnamon roll cup into chocolate sauce; dip into miniature chocolate chips to coat edge.
Just before serving, place cinnamon roll cups on dessert plates. Fill each with frozen yogurt. Top with additional chocolate sauce and miniature chocolate chips.