Cook sausage according to package directions. Cool slightly; cut into 1/4-inch slices.

In a bowl, combine sausage, pie filling, vanilla, and cinnamon. Separate rolls onto a lightly flowered surface. With a rolling pin, roll each piece of dough to a ¼-inch thickness. In a greased 10-inch tube pan, line the interior with 16 rolled cinnamon rolls; press edges to seal.

Spoon sausage mixture onto dough. Arrange remaining rolls over sausage mixture; pinch edges together to seal.

Bake at 350°F for 30-35 minutes or until lightly browned. Cool for 10 minutes; remove from pan to a serving plate. Drizzle with cinnamon roll frosting.

Serve. Refrigerate any leftovers.