01 - Whisk together warm milk, sugar, and yeast in a large bowl. Let stand 5 minutes until foamy and activated.
02 - Add melted butter, mashed banana, eggs, and salt to yeast mixture. Stir thoroughly to incorporate. Gradually add flour, mixing until soft dough forms.
03 - Turn dough onto floured surface and knead 6-8 minutes until smooth and elastic. Transfer to greased bowl, cover, and let rise in warm place until doubled, approximately 1 hour.
04 - Punch down risen dough and roll into 16x12-inch rectangle. Spread softened butter evenly over surface. Sprinkle brown sugar and cinnamon, then arrange banana slices across dough.
05 - Roll dough tightly from long edge. Cut cylinder into 12 equal pieces using sharp knife or bench scraper.
06 - Place rolls cut-side up in greased 9x13-inch baking dish. Cover loosely and let rise 30 minutes until puffy.
07 - Preheat oven to 350°F. Bake rolls 22-25 minutes until golden brown and cooked through.
08 - Beat cream cheese and butter until smooth. Blend in powdered sugar and vanilla. Add milk 1 tablespoon at a time until pourable consistency achieved.
09 - Spread warm glaze over freshly baked rolls. Serve immediately for best texture and flavor.