Heat oven to 375°F. In 2-quart saucepan, mix pears and pie filling. Cook over medium-high heat, stirring frequently, until mixture boils. Pour into ungreased 11x7-inch (2-quart) glass baking dish.
Separate dough into 8 rolls; set icing aside. Place rolls, cinnamon side up, over hot fruit mixture.
Bake 15 to 20 minutes or until rolls are deep golden brown and fruit is bubbly. Spread icing over hot rolls. Cool 5 minutes before serving.