Preheat oven to 350 degrees F. Place parchment paper liners in 16 muffin cups. Liners are optional but highly recommended. If not using liners, grease muffin cups well.
Unroll both cans of cinnamon rolls and separate rolls. Press each roll into the bottom of a muffin cup and up the sides.
In a small bowl, cream together the cream cheese, sugar, and vanilla extract until the mixture is smooth. Spoon the cream cheese mixture into the center of each cinnamon roll cup, dividing the cream cheese mixture evenly.
Top the cream cheese with a heaping spoonful of pie filling.
Bake 16-18 minutes until the cinnamon rolls are puffed and golden brown.
Remove from oven and allow to cool for about 10 minutes then drizzle with icing from the cinnamon rolls.