Vermont Maple Bread Pudding

1 bag (12.4) oz Pillsbury Oven Baked Frozen crusty French Dinner rolls
6 eggs
1/2 cup maple-flavored or real maple syrup
1/4 cup granulated sugar
1 1/2 teaspoons baking powder
1 pint (2 cups) half-and-half
1 cup milk
1/4 cup butter or margarine, melted
1/2 cup cream cheese creamy ready-to-spread frosting
1 container (6 oz) Yoplait original 99% fat free French Vanilla yogurt

1) Heat oven to 350 degrees. Spread 13x9-inch pan with cooking spray. Let frozen rolls stand at room temperature 10 minutes. Cut each roll into 12 pieces; place in large bowl.
2) In another large bowl, slightly beat eggs. Reserve 1 tablespoon of the syrup in small microwavable bowl; add remaining syrup to eggs. Stir in sugar, baking powder, half-and-half, milk, and melted butter until well blended. Pour mixture over roll pieces in bowl; stir to coat well. Pour mixture into pan, pressing bread into liquid with back of spoon. Let stand 5 minutes; press down bread again.
3) Bake 40-55 minutes or until top is golden brown and knife inserted in center comes out clean. Cool 20 minutes before serving.
4) To reserved syrup, stir in frosting and yogurt. Microwave on high for 20 seconds or until melted. Stir, pour over warm bread pudding and spread to cover. Cut into 12 servings. Serve warm