Mash your ripe bananas and combine with warm milk, melted butter, sugar, yeast, and flour. Knead until smooth and let it rise for an hour, until doubled in size. This creates a soft, fluffy base for your rolls.
Mix brown sugar, cinnamon, and softened butter to create a rich filling. Spread it evenly over the rolled-out dough to ensure every bite has a sweet swirl.
Roll the dough into a log and slice into even rolls. Place them in a greased baking dish and let them rise again for about 30 minutes for maximum fluffiness.
Bake at 350°F (175°C) for 25–30 minutes. Watch closely so the tops are golden, but the centers stay soft and gooey.
Whip cream cheese, powdered sugar, and a touch of vanilla until smooth. Spread generously over warm rolls for a luscious finish.