Activate the Yeast: Heat ½ cup of milk to around 110°F, sprinkle 2¼ teaspoons of active dry yeast on top, and let it rest for 10 minutes until frothy.

Make the Dough: In a bowl, combine 4 cups of flour, ⅓ cup of sugar, and 1 teaspoon of salt. Work in ¼ cup of softened butter until resembling small peas. Add the yeast mixture, 1 beaten egg, and 1 cup of mashed bananas, then knead for 5 minutes.

First Rise: Shape the dough into a ball and place in a greased bowl. Cover and let rise for 1 hour, or until doubled in size.

Prepare the Filling: Beat together ¼ cup of softened butter, ⅔ cup of brown sugar, and 1 tablespoon of cinnamon until smooth.

Roll Out the Dough: Roll dough into a rectangle, spread the cinnamon filling, and sprinkle with sliced banana.

Shape the Rolls: Roll the dough tightly into a log and cut into 12 equal pieces.

Second Rise: Arrange rolls in a greased baking dish, cover, and let rise for 20 minutes while preheating the oven to 375°F.

Bake: Bake for 28 to 33 minutes or until lightly golden on top.

Make Icing: Beat together 4 ounces of softened cream cheese, 2 tablespoons of softened butter, and 1 cup of powdered sugar until smooth. Add vanilla extract if desired.

Drizzle and Serve: Allow rolls to cool for 5 minutes and drizzle icing over them before serving.