Heat oven to 375°F. Spray 9 regular-size muffin cups with cooking spray.
Unroll 1 can dough into a rectangle; unroll second can of dough on top of first rectangle. Firmly press sheets of dough together.
Spread melted butter over dough. Evenly sprinkle with brown sugar, cinnamon, 1 tablespoon of the orange peel and the crumbled bacon. Starting on long side, roll dough into log. Cut into 9 evenly sized cinnamon rolls. Place 1 cinnamon roll into each muffin cup.
Bake 18 to 24 minutes or until golden brown.
Meanwhile, stir together powdered sugar, orange juice and maple syrup. Add more powdered sugar or orange juice to achieve desired glaze consistency.
Remove cinnamon rolls from muffin cups; cool 15 minutes. Drizzle with glaze; sprinkle with remaining 1 teaspoon orange peel.