Separate each cinnamon roll. Cut each roll into 4 equal pieces. Set icing aside.
Preheat the air fryer to 320-325°F. Place the cinnamon rolls at the bottom of the air fryer giving at least ½ inch of space in between.
Cook for 4-5 minutes. Repeat until all the cinnamon rolls are cooked.
In a small bowl with a mixer, beat the cream cheese until smooth. Add in the sugar, milk, Hennessy, and the icing that came with the can. Mix until smooth and completely combined.
Plate and serve warm with dipping icing!