Preheat your oven to 400°F and grease a muffin tin with cooking spray.
Slice each cinnamon roll into pieces about 1/2 inch thick, then press them into each muffin cavity. You should have enough dough for about 8-10 rolls.
Spoon about 2 tablespoons of apple pie filling into each cavity.
Bake in the preheated oven for 10 minutes.
Once baked, remove the rolls from the oven. If you’re using the glaze, mix together the powdered sugar and milk until you get a thick paste. Drizzle it over the warm cinnamon rolls.
Use a knife to loosen the edges of the rolls from the muffin tin, then pop them out and enjoy every delicious bite!