In a bowl, combine warm milk, granulated sugar, and yeast. Let it sit until frothy.

In a separate bowl, mix flour and salt. Add the yeast mixture, melted butter, egg, and mashed bananas. Stir until a dough forms.

Knead the dough on a floured surface for about 5 minutes until smooth. Place in a greased bowl, cover, and let rise for 1 hour.

Roll the dough into a rectangle and spread softened butter over it. Sprinkle brown sugar and cinnamon evenly on top.

Roll the dough tightly and slice into rolls. Place in a greased baking dish.

Cover the rolls and let them rise for another 30 minutes.

Preheat the oven to 350°F (175°C) and bake for 25 minutes.

While baking, prepare the glaze by mixing powdered sugar, milk, and vanilla extract until smooth.

Drizzle glaze over warm cinnamon rolls before serving.