1 can Pillsbury cinnamon rolls (Grands or regular)
Heavy whipping cream
1/2 stick butter 
1/4 cup brown sugar
1 teaspoon cinnamon
1/4 cup chopped roasted and salted peanuts

Heat oven according to package directions for the cinnamon rolls. Lightly spray baking dish with cooking spray. Place cinnamon rolls in the dish. Pour heavy whipping cream around the rolls to cover the bottom of the pan. In a small bowl, combine melted butter, brown sugar and cinnamon. Spoon this mixture over each roll, then sprinkle with chopped peanuts. Cover and bake 15 to 20 minutes. Uncover during last few minutes to brown, if desired.  

Icing
1/4 cup peanut butter (or less, to taste) 
1/2 cup powdered sugar
Milk

Mix peanut butter, powdered sugar and splashes of milk to desired consistency. Spread over hot rolls.