In a large mixing bowl, combine flour, sugar, yeast, and salt. In another bowl, whisk together warm milk, mashed bananas, melted butter, and egg. Pour wet mixture into dry ingredients and stir until a soft dough forms.

Transfer dough to a floured surface and knead for 8-10 minutes until smooth and elastic. Shape into a ball and place in a greased bowl, turning to coat.

Cover the bowl with a towel and let rise in a warm place for 60-90 minutes until doubled in size.

Once risen, punch the dough down and roll out into a rectangle. Spread softened butter over the dough, mix brown sugar and cinnamon, sprinkle on dough, and roll tightly into a log.

Slice the log into 9 equal pieces and place them in a greased baking dish.

Cover the dish and let rolls rise for another 30-45 minutes until puffed.

Preheat oven to 350°F and bake rolls for 25-30 minutes until golden brown.

Beat together softened cream cheese, butter, powdered sugar, and vanilla until creamy.

Allow rolls to cool for 5-10 minutes, then spread frosting over warm rolls.