01 - Whisk together warm milk, sugar, and yeast in a large bowl. Let stand 5 minutes until mixture becomes foamy and fragrant.
02 - Add melted butter, mashed banana, eggs, and salt to the yeast mixture. Stir thoroughly to incorporate all ingredients.
03 - Gradually add flour while mixing to form a soft, shaggy dough that pulls away from the sides of the bowl.
04 - Turn dough onto a lightly floured surface. Knead for 6–8 minutes until smooth, elastic, and no longer sticky.
05 - Place dough in a greased bowl, turning to coat all sides. Cover with plastic wrap and let rise in a warm, draft-free area until doubled in size, approximately 1 hour.
06 - Punch down risen dough to release air. Roll out into a 16x12-inch rectangle on a lightly floured surface.
07 - Spread softened butter evenly over the dough surface. Sprinkle brown sugar and cinnamon mixture, then arrange banana slices in a single layer.
08 - Starting from the long edge, roll dough tightly into a log. Cut into 12 equal portions using a sharp knife or bench scraper.
09 - Place rolls cut-side up in a greased 9x13-inch baking dish. Cover loosely with a towel and let rise for 30 minutes until puffy.
10 - Preheat oven to 350°F. Bake rolls for 22–25 minutes until golden brown and cooked through. The center should spring back when lightly touched.
11 - Beat cream cheese and butter until smooth and creamy. Incorporate powdered sugar, vanilla extract, and milk 1 tablespoon at a time until reaching desired pourable consistency.
12 - Drizzle glaze generously over warm rolls immediately after removing from the oven. Serve while warm for optimal texture and flavor.