1. Spray waffle maker with cooking spray; heat waffle maker. Separate dough into 5 rolls; set icing aside.
2. For each waffle, gently push down to flatten slightly. Place 1 roll in center of waffle maker; close lid of waffle maker. Bake 2 minutes on medium low or until waffle is thoroughly cooked and golden brown.
3. In a small bowl, stir together reserved icing, powdered sugar, milk and maple syrup until glaze is smooth.
4. Serve glaze over hot waffles.