Warm 1 cup of milk in a saucepan over low heat until it’s just steaming. Stir in 3 tablespoons of sugar until dissolved. Sprinkle 2 teaspoons of active dry yeast on top and let it sit for about 5 minutes until it foams.

In a large bowl, mash 2 ripe bananas until smooth. Add the yeast mixture, 1 large egg, and 4 tablespoons of melted butter. Gradually mix in 3 cups of flour and 1 teaspoon of salt until a shaggy dough forms.

Turn the dough onto a floured surface and knead for 5-7 minutes until soft and elastic. Place in a greased bowl, cover with a towel, and let rise in a warm place for about 1 hour.

While the dough rises, mix together ½ cup of brown sugar and 2 tablespoons of cinnamon until combined. Punch down the risen dough and turn it out onto a floured surface.

Roll the dough into a large rectangle, about ¼-inch thick. Spread 4 tablespoons of softened butter over the dough, then sprinkle the brown sugar and cinnamon mixture.

Roll the dough tightly from one long side into a log shape. Cut into 12 equal pieces and arrange in a greased 9x13 inch baking dish. Cover and let rise for 30-45 minutes.

Preheat the oven to 350°F (175°C). Bake the rolls for 20-25 minutes until golden brown.

Whisk together 1 cup of powdered sugar and 2-3 tablespoons of milk until smooth. Drizzle over the rolls after cooling slightly.