Heat oven to 375°F. In small bowl, mix all ingredients except rolls and icing. Spread in ungreased 9-inch round cake pan.
Separate dough into 8 rolls; set icing aside. Place 1 roll in center of pan and remaining rolls around center roll.
Bake 24 to 27 minutes or until deep golden brown. Turn pan upside down onto heatproof serving plate. Cool 5 minutes.
Remove cover from icing; microwave on Medium (50%) 5 to 10 seconds or until thin enough to drizzle. Drizzle over warm rolls. Serve warm.