Heat oven to 400°F. Spray cookie sheet with cooking spray. Separate dough into 8 rolls; set icing aside. Place rolls 2 inches apart on cookie sheet, cinnamon topping up.
Bake 8 to 10 minutes or until golden brown.
While rolls are baking, place icing in small microwavable bowl. Microwave uncovered on Medium (50%) 5 to 10 seconds or until thin enough to drizzle. Stir in peanut butter; mixture will stiffen. Shape mixture into 8 (1-inch) balls.
Remove rolls from oven; immediately press and flatten 1 peanut butter ball into center of each roll. Drizzle with chocolate chips.