Preheat oven to 400 degrees F. Line a rimmed baking sheet with parchment paper. Separate cinnamon rolls. On a clean work surface, slice each roll in half, horizontally, making 16 rolls.

Wrap 1 roll around each sausage, securing with a toothpick. Bake, toothpick-side-down until sausage links are fully heated through and rolls are light golden-brown, about 13 to 17 minutes. Allow to cool for 5 minutes.

Cut tip of icing packet with scissors. In small bowl, combine icing and maple syrup. Serve sausage bundles with icing mixture and enjoy.