Preheat oven to 375 degrees F. Grease a 9x13-inch baking dish with melted butter.
Separate cinnamon rolls. Cut each roll into 8 pieces. Place cinnamon roll pieces in an even layer in prepared baking dish.
In a large bowl, whisk half & half, eggs, vanilla, cinnamon and salt together until smooth. Pour mixture over cinnamon roll pieces. Sprinkle with pecans and drizzle with maple syrup.
Bake until light golden-brown and fully cooked, about 25 to 30 minutes. Allow to cool for 10 minutes.
Cut tip of icing packet with scissors and drizzle over cinnamon roll casserole. Serve warm and enjoy.