01 - Whisk together warm milk, sugar, and yeast in a large bowl. Let stand for 5 minutes until mixture becomes foamy.
02 - Add melted butter, mashed banana, eggs, and salt to yeast mixture. Stir thoroughly. Gradually incorporate flour, mixing until a soft dough forms.
03 - Knead dough on floured surface for 6-8 minutes until smooth and elastic. Transfer to greased bowl, cover, and let rise until doubled in volume, approximately 1 hour.
04 - Punch down risen dough and roll into a 16x12-inch rectangle.
05 - Spread softened butter evenly over dough surface. Sprinkle brown sugar and cinnamon, then arrange banana slices across the surface.
06 - Roll dough tightly from the long edge. Cut into 12 equal portions and arrange cut-side up in greased 9x13-inch baking dish.
07 - Cover rolls loosely and let rise for 30 minutes until puffy.
08 - Preheat oven to 350°F. Bake rolls for 22-25 minutes until golden brown.
09 - Beat cream cheese and butter until smooth. Blend in powdered sugar, vanilla, and sufficient milk to achieve pourable consistency.
10 - Spread glaze over warm rolls immediately before serving.