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Place frozen rolls in Pam sprayed 9 x 13 inch metal baking pan; cover with foil that has been sprayed with cooking spray. Place in warm oven (175-200 degrees) to rise for 1 1/2-2 hours or until rolls are 2 1/2 times their original size. Mix sugars, butter, and ice cream together in a saucepan; boil 1 1/2 minutes. Remove foil and pour mixture over rolls. Bake at 350 degrees for 20-25 minutes. Cook for 5 minutes; turn onto waxed paper.
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