In a small bowl, combine the warm milk and active dry yeast. Stir gently and let it sit for 5-10 minutes until foamy.
In a large mixing bowl, whisk together the mashed bananas, granulated sugar, melted butter, and egg until well combined.
Add the foamy yeast mixture to the banana mixture and stir to combine.
In a separate bowl, whisk together the flour and salt.
Gradually add the flour mixture to the wet ingredients, mixing until a soft dough forms. You may need to knead by hand or with a stand mixer fitted with a dough hook for about 5-7 minutes until the dough is smooth and elastic.
Place the dough in a lightly greased bowl, cover with a clean kitchen towel or plastic wrap, and let it rise in a warm place for about 1 hour or until doubled in size.
While the dough is rising, prepare the filling by mixing the brown sugar and ground cinnamon in a small bowl.
Once the dough has risen, punch it down and turn it out onto a lightly floured surface.
Roll the dough into a rectangle approximately 12×16 inches.
Spread the softened butter evenly over the dough rectangle.
Sprinkle the cinnamon sugar mixture evenly over the buttered dough.
Starting from the longer side, tightly roll the dough into a log.
Cut the log into 12 equal slices and place them cut side up in a greased 9×13 inch baking dish, leaving a little space between each roll.
Cover the rolls with a kitchen towel and let them rise for an additional 30 minutes until puffed.
Preheat the oven to 350°F (175°C).
Bake the cinnamon rolls for 22-25 minutes, or until golden brown and cooked through.
While the rolls bake, prepare the glaze by beating together the cream cheese and softened butter until smooth.
Add the powdered sugar, vanilla extract, and milk to the cream cheese mixture and beat until creamy and smooth.
Remove the cinnamon rolls from the oven and let them cool for about 10 minutes before drizzling the glaze over the top.
Serve warm and enjoy!