Start by warming the milk to about 110°F, then sprinkle the active dry yeast over the warm milk and let it sit for about 10 minutes.

In a large bowl, mix the flour, sugar, and salt. Add the butter and mix until coarse crumbs form. Stir in the yeast mixture, egg, and mashed bananas until a rough dough forms.

Knead the dough for about 5 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for about 1 hour.

While the dough rises, beat together the filling ingredients until smooth and fluffy. Set aside.

Roll the risen dough into a rectangle, spread the filling, add banana slices, and roll into a log. Seal the seam.

Cut the log into 12 pieces, place in a greased baking pan, cover, and let rise for another 20 minutes. Preheat the oven to 375°F.

Bake in the preheated oven for 28-33 minutes until golden brown.

Make icing by mixing cream cheese and butter, then add powdered sugar and vanilla until smooth.

Allow rolls to cool slightly, then drizzle with icing and serve warm.