Heat oven to 375°F. Generously spray 5 jumbo muffin cups or 5 (6-oz) custard cups with Crisco® Original No-Stick Cooking Spray.
In medium bowl, mix dates, walnuts, lemon peel, lemon juice and cardamom. In small bowl, mix brown sugar and cinnamon.
Separate cinnamon rolls; reserve icing. Using serrated knife, cut each roll horizontally in half. Place bottom of each roll, cut side up, in each muffin cup. Divide date mixture evenly among rolls in muffin cups. Add tops of rolls, cinnamon topping sides up.
Spray bottom of large drinking glass with cooking spray; press firmly onto rolls so tops are even with tops of cups. Sprinkle cinnamon-sugar mixture over tops of rolls; lightly press into dough.
Bake 18 to 21 minutes or until tops are golden brown. Meanwhile, in small bowl, mix reserved icing and honey. Place waxed paper under cooling rack. Cool muffins in pan 10 minutes; carefully remove from pan to cooling rack. Drizzle honey icing over muffins. Serve warm.