In a shallow mixing bowl, beat eggs, milk, and vanilla together. Soak cinnamon roll slices in egg mixture for about 15 seconds on each side.
In a skillet or on a griddle, cook cinnamon roll slices on both sides in a small amount of butter or margarine for 2 to 3 minutes on each side or until golden brown. Add more butter as needed.
Meanwhile, in a small saucepan, stir together the maple-flavored syrup, orange peel, and orange juice. Heat until mixture comes to boiling. Serve warm with French toast. Makes 4 servings.