Preheat your oven to 375°F. Grease a 9x13-inch baking dish.
Open the cans of cinnamon rolls and cut each roll into quarters. Place the pieces evenly in the prepared baking dish.
In a large bowl, whisk together the eggs, milk, vanilla extract, ground cinnamon, and salt until well combined.
Pour the egg mixture evenly over the cinnamon roll pieces in the baking dish. Gently stir to ensure all pieces are coated.
Sprinkle the chopped pecans and raisins over the top if using.
Bake in the preheated oven for 25-30 minutes, or until the casserole is puffed and golden brown.
While the casserole is baking, warm the icing from the cinnamon roll cans in the microwave for about 10-15 seconds to make it easier to drizzle.
Once baked, remove the casserole from the oven and let it cool for about 5 minutes. Drizzle the warm icing over the top before serving.