Activate yeast: In a large bowl, combine warm milk and yeast; let stand 5–10 minutes until foamy.

Make dough: Add melted butter, sugar, mashed bananas, vanilla, and salt to the yeast mixture. Gradually add flour, mixing until a soft dough forms.

Knead and rise: Turn the dough out onto a lightly floured surface and knead for 6–8 minutes until smooth and elastic. Place in a greased bowl, turning to coat. Cover and let rise in a warm place for 1 hour, or until doubled in size.

Prepare filling: In a small bowl, combine brown sugar and cinnamon.

Roll and fill: On a lightly floured surface, roll the dough into a 12x18-inch rectangle. Spread softened butter evenly over the dough. Sprinkle with cinnamon sugar mixture.

Form rolls: Starting from the long side, tightly roll up the dough into a log. Cut into 12 equal slices.

Second rise: Place rolls in a greased 9x13-inch baking dish. Cover and let rise for 30–45 minutes, or until puffy.

Bake: Preheat oven to 350°F (175°C). Bake for 25–30 minutes, or until golden brown.

Make icing: In a medium bowl, beat together cream cheese, butter, powdered sugar, vanilla, and milk until smooth and creamy. Add more milk if needed.

Frost and serve: Let the rolls cool slightly before frosting with the cream cheese icing. Serve warm and enjoy!