Bake 22 to 25 minutes or until golden brown and rolls are no longer doughy. Immediately run sharp knife around edge of each cup; turn each upside down onto serving plate. Slowly lift cup from biscuit, releasing biscuit onto plate. Spread any remaining apple mixture in cups over rolls. Divide 1 icing packet between hot rolls, drizzling evenly over rolls. Cool 5 minutes before serving.