Preheat your oven to 350°F (175°C).

In a large mixing bowl, combine the mashed bananas, granulated sugar, brown sugar, melted butter, egg, and vanilla extract until smooth.

In a separate bowl, whisk together the all-purpose flour, baking powder, baking soda, salt, and ground cinnamon.

Gradually add the dry mixture into the wet ingredients and gently fold together.

Lightly flour a surface and roll the dough into a rectangle about ½ inch thick.

Spread softened butter evenly over the rolled-out dough.

Sprinkle brown sugar and ground cinnamon over the buttered dough.

Starting from one end, tightly roll the dough into a log and slice into 8 equal portions.

Place sliced rolls into a greased baking dish and bake for about 25 minutes.

While rolls bake, prepare the glaze by blending softened cream cheese, powdered sugar, and milk until smooth.

Drizzle the cream cheese glaze over warm rolls.