For the rolls: Bake the cinnamon rolls according to the package directions (reserve the glaze). When they are cool enough to handle, cut each into fourths. Set aside.
Preheat the oven to 350 degrees F. Coat the bottom and sides of a deep 8-inch square pan with cooking spray.
In a large bowl, add the fruit cocktail, milk, pecans, walnuts, vanilla extract and eggs and mix together. Add the cinnamon roll pieces and stir. Let rest for a few minutes to allow the liquid to soak in.
Pour the cinnamon roll mixture into the prepared pan. Bake until golden on top, 25 to 30 minutes.
For the glaze and topping: Put the milk in a small microwave-safe bowl and microwave for 30 seconds. Add the espresso powder and stir until the granules dissolve. Add the reserve glaze from the cinnamon rolls and stir until combined.
Drizzle the bread pudding with the glaze and add a dusting of cinnamon sugar. Serve with a pour of coffee over the top.