In a medium bowl, stir together the cream cheese and powdered sugar until smooth. Add the vanilla and maple syrup and continue stirring until combined; set aside.

Spray an 8-inch baking dish with nonstick cooking spray. Separate the cinnamon rolls and cut each into quarters. Scatter half of them in the baking dish along with 2 cups of the bread cubes. Spoon dollops of the cream cheese mixture evenly over the cinnamon rolls and bread. Scatter the remaining cinnamon rolls and bread cubes on top.

In a medium bowl, stir the butter, brown sugar, and cinnamon together until combined. Add the eggs, one at a time, beating well after each is added. Stir in the milk and vanilla, then pour mixture evenly over the bread. Refrigerate at least 6 hours, or overnight.

Preheat the oven to 350ºF. While oven is preheating, make the streusel. Use a fork to cut the butter into the brown sugar, flour, and cinnamon until mixture resembles coarse crumbs. Sprinkle streusel evenly over the dish. Cover bread pudding with foil, and bake for 40-45 minutes. Remove foil during last 15 minutes of baking.

In the bowl of a stand mixer fitted with the paddle attachment, beat the butter and cream cheese together until smooth. Add the powdered sugar, vanilla, and lemon juice and continue beating until combined. Spread evenly on top of the warm bread pudding. Serve and enjoy!