Warm the milk until comfortably warm (about 100–110°F), then stir in the sugar and active dry yeast; let this sit for roughly 5 minutes until it becomes frothy.

In a large mixing bowl, combine the mashed bananas with the melted butter and salt, then add the yeast-milk mixture and stir to combine.

Gradually add the all-purpose flour, mixing until a soft dough forms; turn it out and knead for about 5 minutes until smooth and elastic.

Place the dough in a lightly oiled bowl, cover it, and let it rise in a warm place until doubled in size, about 1 hour.

On a floured surface, roll the risen dough into a rectangle. Brush with melted butter, sprinkle evenly with cinnamon and brown sugar, and arrange sliced bananas over the sugar.

Tightly roll the dough lengthwise into a log, then slice into individual rolls and place in a greased baking dish.

Cover and let the rolls rise again for about 30 minutes. Preheat your oven to 350°F (175°C).

Bake the rolls for 25–30 minutes, or until tops are golden brown.

While the rolls bake, beat the softened cream cheese with powdered sugar and vanilla until smooth.

Drizzle or spread the cream cheese frosting over warm rolls and serve.