In a small saucepan, combine milk, butter, and granulated sugar over medium heat, stirring until melted and smooth. Allow to cool until it reaches 120°F–130°F.

In a stand mixer bowl, whisk together the all-purpose flour, instant yeast, and salt.

Pour the cooled milk mixture into the mixed dry ingredients, followed by the mashed bananas. Mix on low speed until a shaggy dough forms.

Switch to a dough hook and knead on medium speed for 6–8 minutes until the dough is smooth and elastic.

Grease a large bowl, place the dough inside, cover with a towel, and let rise for 1 to 1.5 hours until doubled in size.

On a floured surface, roll the dough into an 18x12 inch rectangle. Spread softened butter, sprinkle with brown sugar and cinnamon, and add sliced bananas.

Starting from one long side, tightly roll the dough into a log, sealing the edges as you go. Cut into 12 equal pieces.

Cover the baking dish with a light towel and let the rolls rise for an additional 45 minutes.

Preheat the oven to 350°F. Pour heavy cream over the rolls before baking. Bake for 30–35 minutes until golden brown.

Beat together cream cheese and softened butter until smooth. Gradually add powdered sugar, then stir in vanilla extract.

Spread the cream cheese frosting over the warm rolls once they are out of the oven.