01 - Whisk warm milk, sugar, and yeast in a large bowl. Let stand for 5 minutes until mixture becomes foamy, indicating the yeast is active.
02 - Add melted butter, mashed banana, eggs, and salt to the yeast mixture. Stir thoroughly to combine. Gradually incorporate flour, mixing until a soft, sticky 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 with plastic wrap or a towel, and let rise in a warm place until doubled in volume, approximately 1 hour.
04 - Punch down risen dough and roll into a 16x12-inch rectangle. Spread softened butter evenly over the surface. Sprinkle brown sugar and cinnamon across the dough, then arrange banana slices in an even layer.
05 - Roll the dough tightly from the long edge into a log. Use a sharp knife or bench scraper to cut the log into 12 equal rolls, approximately 1 ½ inches thick each.
06 - Place rolls cut-side up in a greased 9x13-inch baking dish. Cover loosely with plastic wrap and let rise for 30 minutes until puffy and nearly doubled in size.
07 - Preheat oven to 350°F. Bake rolls for 22-25 minutes until golden brown and cooked through. The tops should spring back lightly when touched.
08 - Beat cream cheese and softened butter until smooth and creamy. Mix in powdered sugar and vanilla extract. Add milk 1 tablespoon at a time until glaze reaches a pourable consistency.
09 - Drizzle warm glaze generously over the rolls immediately after removing from the oven. Serve warm for best texture and flavor.