Heat the milk to 110°F using a thermometer, sprinkle the active dry yeast over the milk, and allow to rest for 10 minutes until frothy.

In a large mixing bowl, combine the all-purpose flour, white granulated sugar, and salt. Add the room temperature unsalted butter, mixing until it resembles small peas.

Add the yeast mixture, a large egg, and the mashed bananas to the flour mixture. Stir until a dough forms, then knead on a floured surface for about 5 minutes.

Preheat your oven to 200°F. Once heated, turn it off and place the kneaded dough in a greased bowl covered with a towel to rise for about 1 hour.

Prepare the filling by beating together softened butter, brown sugar, and ground cinnamon in a small bowl until creamy.

Roll out the dough to about a 1/4-inch thickness, spread the filling over it, layer sliced bananas, and roll into a log shape. Cut the log into 12 pieces.

Arrange rolls in a greased baking pan, cover with a towel, and let rise for another 20 minutes while preheating your oven to 375°F.

Bake for 28-33 minutes until golden brown. The aroma will fill your kitchen as they bake.

Beat together cream cheese and softened butter, gradually add sifted powdered sugar and vanilla until smooth.

Once the rolls have cooled for about 10 minutes, generously drizzle or spread icing over the top and serve warm.