Trim crust from bread and flatten each slice with a rolling pin until about 1/8-inch thick. Place 1 teaspoon of peanut butter and 1 teaspoon of jelly in a straight line about 1-inch away from one side of the bread. Starting with the side closest to the filling, roll the bread up and let stand seam side down. Repeat with remaining bread, peanut butter, and jelly.
In a shallow bowl whisk together eggs and milk. In another shallow bowl combine sugar and cinnamon.
In a very large nonstick skillet, melt the butter. Coat bread rolls in egg mixture. Once butter is melted place bread rolls in skillet, seam side down and cook until golden brown on all sides, turning occasionally. Transfer warm bread rolls to cinnamon-sugar mixture and roll to coat. Serve with maple syrup, if desired.