Heat oven to 350°F. Lightly spray 8-inch round cake pan with cooking spray.
Unroll dough; separate into 4 rectangles. Pinch perforations to seal.
In small microwavable bowl, microwave cream cheese on High 30 seconds. Stir in granulated sugar and vanilla until smooth. Divide cream cheese mixture among rectangles; spread in thin layer to within 1/4 inch of 1 long edge of each rectangle. Divide lemon curd among rectangles; gently spread over cream cheese mixture.
Starting with opposite long side of clean edge, roll up each rectangle into long tube, pinching clean edge closed. Cut each tube into 4 equal slices. Place slices cut side up and 1 inch apart in pan.
Bake 20 to 22 minutes or until top is golden brown. Meanwhile, beat Icing ingredients until smooth.
Drizzle icing over warm rolls.