Preheat the oven to 350°F. Line two half-sheet pans with silicone baking mats or parchment paper and set them aside until ready to use. Place two half-sheet cooling racks inside the other two half-sheet pans and set them aside until ready to use.
Place the powdered sugar, vanilla extract, and heavy whipping cream in a medium-sized bowl. Then, use an electric hand mixer to beat until smooth and creamy. Open the two cans of cinnamon rolls and add both containers of icing to the bowl. Beat with the electric hand mixer until well combined. Add a few drops of pink gel food coloring to the icing and beat with the hand mixer until uniform in color. Cover the bowl and set aside until ready to ice the cinnamon rolls.
Unroll one cinnamon roll, place it on a flat surface, and fold it in half. Roll both ends inwards towards the center to form a heart shape. Place the cinnamon roll heart on one of the prepared sheet pans with the silicone baking mats, making sure to pinch the center, and bottom of the heart together to form a sharp point. Repeat forming the cinnamon roll hearts until you get eight on the pan.
Place the pan in the 350°F and bake for 15 minutes. While the first pan is baking, form the other can of cinnamon rolls into hearts. Once done baking, remove the pan from the oven and place it on a wire cooling rack. Place the second pan in the oven and bake it for 15 minutes.
While the cinnamon rolls are still hot, use a spatula to remove them from the pan and place them on one of the wire cooling racks set in a half-sheet pan.
Immediately spoon the icing over the hot cinnamon rolls. Once the second pan is finished baking, repeat removing it from the oven, transferring the rolls to the other prepared wire cooling rack pan, and spooning icing on top.
Yield 16 Sweetheart Cinnamon Rolls