Step 1: Prepare the Dough

1. In a large bowl, whisk together flour, sugar, yeast, and salt.
2. Add warm milk, melted butter, mashed bananas, and egg. Mix until a soft dough forms.
3. Knead the dough on a floured surface for 5–7 minutes, or until smooth and elastic.
4. Place the dough in a greased bowl, cover, and let rise in a warm place for 1 hour, or until doubled in size.

Step 2: Make the Filling

1. In a small bowl, combine softened butter, brown sugar, and cinnamon until smooth.

Step 3: Roll Out the Dough

1. Roll the dough into a 16×12-inch rectangle on a lightly floured surface.
2. Spread the cinnamon-sugar filling evenly over the dough.
3. Sprinkle with chopped pecans or walnuts, if desired.

Step 4: Form the Rolls

1. Starting from the long edge, roll the dough tightly into a log.
2. Slice into 12 equal pieces using a sharp knife or floss.

Step 5: Second Rise

1. Place the rolls in a greased 9×13-inch baking dish.
2. Cover and let them rise for 30 minutes.

Step 6: Bake the Rolls

1. Preheat the oven to 350°F (175°C).
2. Bake the rolls for 20–25 minutes, or until golden brown and cooked through.

Step 7: Prepare the Cream Cheese Glaze

1. Beat cream cheese and butter together until smooth.
2. Gradually add powdered sugar and vanilla extract.
3. Stir in milk, 1 tablespoon at a time, until the glaze reaches your desired consistency.

Step 8: Glaze and Serve

1. Drizzle the glaze over the warm cinnamon rolls.
2. Serve immediately and enjoy the banana bread-inspired deliciousness!