01 - Whisk together warm milk, sugar, and yeast in a large bowl. Let stand for 5 minutes until foamy.
02 - Add melted butter, mashed banana, eggs, and salt to the yeast mixture. Stir well to combine. Gradually add flour, mixing until a soft dough forms.
03 - Turn dough onto a floured surface and knead for 6–8 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise until doubled, approximately 1 hour.
04 - Punch down risen dough and roll out into a 16×12-inch rectangle on a lightly floured surface.
05 - Spread softened butter evenly over the dough surface. Sprinkle with brown sugar and cinnamon, then arrange banana slices in an even layer.
06 - Roll up dough tightly from the long side. Using a sharp knife or bench scraper, cut the log into 12 even rolls.
07 - Place rolls cut-side up in a greased 9×13-inch baking dish. Cover loosely with plastic wrap and let rise for 30 minutes until puffy.
08 - Preheat oven to 350°F. Bake rolls for 22–25 minutes until golden brown and cooked through.
09 - Beat cream cheese and butter until smooth and creamy. Mix in powdered sugar and vanilla. Add enough milk to achieve a pourable consistency.
10 - Spread cream cheese glaze generously over warm rolls immediately before serving.