Preheat oven to 325°F. Spray a fluted tube pan with cooking spray.
Open can of cinnamon rolls and separate along perforations. Cut each cinnamon roll into quarters and place in pan.
Bake for 45 to 50 minutes or until dough is cooked and golden brown. Cool for 10 minutes in the pan before flipping over onto a plate.
Glaze
Stir together milk and powdered sugar in a small bowl. Adjust consistency by adding more milk/powdered sugar. Drizzle glaze over the top of monkey bread and serve warm.