Make the dough: Mix bananas, sugar, butter, eggs, yeast, warm milk, salt, and flour until a soft dough forms. Knead for 5–7 minutes.
Let it rise: Cover and let the dough rise for 1–2 hours, until doubled.
Add filling: Roll the dough into a rectangle and spread with butter, brown sugar, and cinnamon.
Roll & slice: Roll into a log and cut into about 12 rolls. Let rise again until puffy.
Bake: Bake at 350°F (175°C) for 20–25 minutes, until golden.
Frost: Beat the cream cheese, butter, powdered sugar, and vanilla until smooth. Spread over warm rolls and enjoy!