01 - Whisk warm milk, sugar, and yeast in a large bowl. Let stand 5 minutes until foamy.
02 - Add melted butter, mashed banana, eggs, and salt. Stir well, then gradually add flour and mix into a soft dough.
03 - Knead dough on a floured surface for 6–8 minutes until smooth. Place in a greased bowl, cover, and let rise until doubled, about 1 hour.
04 - Punch down dough and roll into a 16×12-inch rectangle.
05 - Spread softened butter over surface. Sprinkle with brown sugar and cinnamon, then distribute banana slices evenly.
06 - Roll up dough tightly from the long side. Cut into 12 even rolls.
07 - Arrange rolls cut-side up in a greased 9×13-inch baking dish. Cover loosely and let rise 30 minutes.
08 - Preheat oven to 350°F. Bake rolls 22–25 minutes, or until golden brown.
09 - Beat cream cheese and butter until smooth. Mix in powdered sugar, vanilla, and enough milk for pourable consistency.
10 - Spread glaze over warm rolls before serving.