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In a small bowl, mix warm milk, yeast, and a pinch of sugar. Let it sit for 5–10 minutes until foamy.
Prepare the dough:
In a large mixing bowl, combine mashed bananas, melted butter, sugar, salt, and the yeast mixture. Gradually add flour and mix until a soft dough forms. Knead on a floured surface for 6–8 minutes until smooth and elastic.
First rise:
Place the dough in a greased bowl, cover with a clean towel or plastic wrap, and let it rise in a warm spot for 1–1.5 hours until doubled in size.
Prepare filling:
Mix brown sugar and cinnamon in a small bowl. Roll out the dough on a floured surface into a large rectangle (about 16x12 inches). Spread softened butter evenly over the dough, then sprinkle the cinnamon sugar mixture on top.
Roll and cut:
Starting from the long edge, tightly roll the dough into a log. Slice into 12 equal rolls using a sharp knife or dental floss.
Second rise:
Arrange the rolls in a greased 9x13-inch baking pan. Cover and let rise for another 30–45 minutes until puffy.
Bake:
Preheat the oven to 350°F (175°C). Bake rolls for 25–30 minutes until golden brown and cooked through.
Glaze (optional):
While rolls cool slightly, whisk together powdered sugar, milk, and vanilla to make glaze. Drizzle over warm rolls before serving.
Serving and Storage Tips:
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