In a large mixing bowl, combine the warm milk and yeast. Let sit for 5–10 minutes until it becomes frothy.

Tip: The milk should be warm but not hot (around 110°F) to activate the yeast properly.

Add sugar, melted butter, eggs, salt, mashed banana, and 2 cups of flour. Mix until well combined. Gradually add the remaining flour until the dough is soft and pulls away from the bowl.

Tip: Depending on the moisture from the bananas, you might need slightly more or less flour.

Turn dough onto a floured surface and knead for 6–8 minutes, until smooth and elastic.

Tip: If the dough is too sticky, add flour 1 tablespoon at a time while kneading.

Place the dough in a greased bowl. Cover and let rise in a warm place for 1 hour or until doubled in size.

Tip: A slightly warm (but off) oven is a great proofing spot.

While the dough rises, mix the softened butter, brown sugar, and cinnamon in a bowl. Stir in walnuts, if using.

Once the dough has risen, punch it down and roll it out into a 16×12-inch rectangle. Spread the cinnamon mixture evenly over the dough.

Tip: Leave a small border around the edges to help seal the roll.

Starting from the long side, roll the dough tightly into a log. Slice into 12 equal rolls and place them in a greased 9×13-inch baking dish.

Cover the pan and let the rolls rise for 30–40 minutes until puffy.

Preheat the oven to 350°F (175°C). Bake for 25–30 minutes, or until golden brown and cooked through.

Tip: Check at 25 minutes to avoid overbaking.

While the rolls bake, beat together cream cheese, butter, powdered sugar, and vanilla extract until smooth.

Spread the icing over the warm rolls right out of the oven. Serve gooey and fresh.

Tip: Let them cool just slightly to keep the icing creamy but not runny.