Heat oven to 350°F. Spray 8x4-inch loaf pan with cooking spray. In large bowl, mix all ingredients except cinnamon rolls with icing.
Separate dough into 5 rolls; set icing aside. Cut each roll into quarters; add to pecan mixture, tossing gently to coat. Spoon roll mixture into pan.
Bake 45 to 50 minutes or until deep golden brown. Cool 10 minutes. Turn upside down onto serving plate or platter. Spread with icing. Serve warm.