In a small bowl, combine warm milk with a pinch of sugar. Sprinkle the active dry yeast over the top and let it sit until foamy, about 5-10 minutes.

In a large mixing bowl, combine mashed ripe bananas, granulated sugar, and melted unsalted butter. Stir in eggs and the foamy yeast mixture until smooth.

Gradually add flour and salt, stirring until a soft dough forms. Knead the dough on a floured surface for 5-7 minutes until smooth and elastic.

Place the kneaded dough in a greased bowl, cover it, and let it rise in a warm spot until doubled in size, about 1-2 hours.

While dough rises, prepare the filling by combining softened unsalted butter, packed brown sugar, and ground cinnamon until smooth.

Once dough has risen, punch it down and roll it into a rectangle about 1/4 inch thick.

Spread the cinnamon filling evenly over the dough, then tightly roll it up into a log. Slice into 12 equal pieces.

Arrange the sliced rolls in a greased baking dish, cover with a towel, and let rise for another 30-45 minutes.

Preheat your oven to 350°F. Bake the rolls for 20-25 minutes until golden brown.

Prepare the cream cheese icing by beating together softened cream cheese, softened butter, powdered sugar, and vanilla until smooth.

Once the rolls have cooled slightly, drizzle or spread the cream cheese icing over the tops and enjoy.