01 - Whisk together warm milk, sugar, and yeast in a large bowl. Let stand for 5 minutes until the mixture becomes foamy, indicating the yeast is active.
02 - Add melted butter, mashed banana, eggs, and salt to the yeast mixture. Stir thoroughly to combine. Gradually incorporate flour, mixing until a soft, cohesive dough forms.
03 - Turn dough onto a lightly floured surface and knead for 6–8 minutes until smooth and elastic. Transfer to a greased bowl, cover with plastic wrap or a clean towel, and let rise in a warm place until doubled in volume, approximately 1 hour.
04 - Punch down the risen dough and roll out into a 16×12-inch rectangle. Spread softened butter evenly over the surface, then sprinkle with brown sugar and cinnamon. Arrange banana slices in an even layer across the dough.
05 - Starting from one long edge, roll the dough tightly into a log. Using a sharp knife or bench scraper, cut the log into 12 equal rolls.
06 - Place rolls cut-side up in a greased 9×13-inch baking dish. Cover loosely and let rise for 30 minutes until puffy.
07 - Preheat oven to 350°F. Bake rolls for 22–25 minutes until golden brown and cooked through.
08 - Beat cream cheese and butter until smooth and creamy. Incorporate powdered sugar and vanilla extract, then add milk 1 tablespoon at a time until reaching a pourable consistency.
09 - Drizzle the prepared cream cheese glaze generously over warm rolls. Serve immediately while still warm for the best texture and flavor.