Place a rack in the middle of the oven and preheat to 350 degrees F.
Halve the pears lengthwise and scoop out the centers with a tablespoon to make a cavity that will fit a cinnamon roll. Cut a thin slice from the bottom of each pear half so the pears sit flat. Arrange the pears on a rimmed baking sheet and fit a cinnamon roll into each cavity. Sprinkle the pears and cinnamon rolls with the sugar.
Bake until the pears are tender and the cinnamon rolls are puffed and golden, about 20 minutes.
Empty the icing packet into a small bowl and add the lemon juice, cinnamon and cloves. Stir to make a smooth glaze.
Drizzle the glaze over the pears and cinnamon rolls. Serve warm.