Warm 1 cup of non-dairy milk to 110°F. Combine with 2 teaspoons instant yeast and 2 tablespoons brown sugar in a bowl and let foam for 5 minutes. Mix in 1/4 cup melted plant-based butter and 1 mashed ripe banana, followed by 3 cups flour and a pinch of salt until smooth.

Knead the dough on a floured surface for about 5 minutes until smooth and elastic. Place in a lightly oiled bowl, cover, and let it rise in a warm place for about 45 minutes.

Punch down the risen dough and roll it out into a 15x9-inch rectangle. Spread 2 tablespoons softened plant-based butter and 1/2 cup peanut butter, followed by 1/4 cup brown sugar, 2 teaspoons cinnamon, and 1 sliced banana.

Roll the dough into a tight log, trim the ends, and cut into 12 equal slices. Place in a greased 9x13-inch pan.

Cover the pan and let the rolls rise for an additional 15 minutes while preheating the oven to 350°F.

Bake the rolls for 18-20 minutes until golden brown.

Mix 1/2 cup peanut butter, 1 cup confectioners sugar, and 2-3 tablespoons of non-dairy milk to make icing.

Drizzle the icing over warm rolls and serve.