Preheat oven to 350 degrees. Cook sausage in large skillet over medium-high heat 8-10 minutes or until thoroughly cooked, stirring frequently; drain. Reserve 1/2 cup cooked sausage crumbles; set aside.
Open can of cinnamon rolls and refrigerate icing. Separate dough into 8 cinnamon rolls; cut each roll into 4 pieces. Place on a greased baking sheet and bake 12-15 minutes or until golden brown. Cool.
Beat eggs, milk and vanilla in large bowl with wire whisk until well blended. Stir in remaining sausage (minus 1/2 cup). Gently fold in cinnamon roll pieces.
Pour into lightly greased 10X6-inch baking dish. Cover with foil; refrigerate overnight.*
To serve: Bake, covered at 325 degrees for 30 minutes. Remove foil and continue baking for 15 minutes or until knife inserted in center comes out clean and cinnamon rolls are golden brown.
Cook and stir remaining 1/2 cup sausage over medium heat for 5 minutes or until crispy. Spread reserved frosting on casserole and sprinkle with remaining sausage crumbles.
Let stand 10 minutes before cutting into 8 servings.
Cook's Tip: *To serve same day. Refrigerate casserole for 30 minutes before baking and bake as directed above.