Heat oven to 375F. Spray 8 regular-size muffin cups with cooking spray. Chop up the peaches or use a food processor and pulse a few times set aside
Separate dough into 8 rolls, and let stand 10 minutes; set icing aside. Place rolls cinnamon side up into muffin cups. Press in bottoms and up sides of cups.
Spoon 2 generous tablespoonsful pie filling into each dough-lined cup. Bake 14 to 18 minutes or until golden brown; cool in pan 5 minutes.
Using a thin metal spatula, run around edges of rolls to loosen, and remove to serving plate. Transfer icing to small resealable food-storage plastic bag, and cut small corner off one end. Drizzle icing over rolls. Serve warm.
