Heat oven to 325°F. Generously spray 8-inch round cake pan with Crisco® Original No-Stick Cooking Spray. Place rolls evenly in pan; reserve icing.
Bake 29 to 32 minutes or until golden brown. Remove rolls to cooling rack. Cool 20 minutes.
Meanwhile, in 2-quart saucepan over medium-low heat, cook condensed milk, chocolate chips and cocoa, stirring constantly, until smooth. Remove from heat. Beat in milk, coffee granules and vanilla with wire whisk. Add eggs and yolks; beat with wire whisk until well blended.
Generously spray 13x9-inch (3-quart) glass baking dish with Crisco® Original No-Stick Cooking Spray. With serrated knife, cut cinnamon rolls into 1-inch pieces; arrange pieces evenly in bottom of baking dish. Pour chocolate-coffee mixture over pieces; turn pieces to coat evenly. Let stand 15 minutes. Drizzle chocolate syrup over top of pudding.
Bake 40 to 50 minutes or until knife inserted in center of pudding comes out clean. Cool 15 minutes.
Meanwhile, in large bowl, beat whipping cream with electric mixer on high speed until stiff peaks form. Add reserved icing; beat 15 seconds or until well blended. Serve whipped topping with warm bread pudding. Store covered in refrigerator.