Prepare the bread rolls so that they rise, according to the package directions. DO NOT BAKE THEM THROUGH.
Meanwhile, melt the butter in a sauce pan over medium heat. Once the butter is melted, whisk in brown sugar, cinnamon, and milk.
After combined, add in vanilla pudding mixture. Whisk to dissolve the pudding mix and achieve a caramel-like texture.
Once the rolls have risen, carefully remove from the oven. Gently pour caramel sauce over the rolls.
Return the rolls to the oven and bake at 350°F for 20-25 minutes. Enjoy!