Start by gently heating milk, butter, and sugar in a saucepan until it reaches about 120°F–130°F, ensuring the butter melts. In a stand mixer bowl, whisk together flour, instant yeast, and salt. Once the wet mixture cools slightly, mix it with the dry ingredients and add mashed bananas, creating a shaggy dough that looks slightly sticky.

Knead the dough with a dough hook for 6–8 minutes until it becomes smooth and elastic. Alternatively, you can knead by hand on a floured surface for about 8–10 minutes. The dough should be soft yet hold its shape when you poke it.

Place the kneaded dough in a greased bowl and cover it with a clean kitchen towel. Allow it to rise in a warm, draft-free location until it doubles in size, which usually takes about 1 to 1.5 hours.

Once the dough has risen, punch it down gently and roll it out into an 18x12-inch rectangle on a floured surface. Spread softened butter evenly on the dough, then sprinkle it with a mixture of brown sugar and cinnamon. Scatter sliced bananas on top, and then roll the dough tightly from one long edge to the other before slicing it into 12 equal pieces.

Arrange the sliced rolls in a greased baking dish, ensuring they are close but not touching. Cover the dish and let the rolls rise for an additional 45 minutes until they look puffy. Preheat your oven to 350°F. Pour warmed heavy cream over the rolls.

Bake the Banana Bread Cinnamon Rolls in the preheated oven for 30–35 minutes. Keep an eye on them, and remove the rolls once they turn golden brown and spring back softly when touched.

While the rolls are baking, prepare the frosting. In a mixing bowl, beat together cream cheese and softened butter until creamy. Gradually mix in powdered sugar, adjusting for sweetness, and stir in vanilla extract.

When the rolls are out of the oven, frost them generously while they are still warm.