Preheat oven to 350 degrees F.
Spray baking dish or pie pan with non-stick cooking spray. Set aside.
Remove cinnamon rolls from package and separate rolls.
One by one, unroll cinnamon roll.
Lay 1 piece of bacon on top of each unrolled cinnamon roll.
Re-roll the cinnamon roll with bacon. Place each in baking dish.
Repeat process until each cinnamon roll has a piece of bacon inside.
Bake for 25 minutes or until dough is done. The bacon will fully cook before the dough. Keep an eye on the cinnamon rolls to make sure they are not too dough-y. Let cook until flaky.
Pour maple glaze over warm cinnamon rolls.