Warm the milk in a small saucepan with the unsalted butter and granulated sugar over low heat until melted and reaches 120-130°F. Remove from heat and let cool slightly.

In a stand mixer bowl, combine all-purpose flour, instant yeast, and salt. Pour in the cooled milk mixture and mashed banana, mixing on low speed until a shaggy dough forms.

Switch to a dough hook and knead the dough on medium speed for 6-8 minutes until smooth and elastic. Allow to rest.

Place the kneaded dough in a greased bowl, cover, and let it rise in a warm place until doubled in size, about 1 to 1.5 hours.

Punch down the dough, roll it out into an 18x12 inch rectangle, spread softened butter, brown sugar, cinnamon, and sliced bananas evenly over it.

Tightly roll the dough from the long edge into a log and slice into 12 equal pieces.

Arrange the sliced rolls in a greased baking dish, cover, and let rise again until puffy, about 45 to 75 minutes.

Preheat oven to 350°F. Pour heavy cream over the rolls, then bake for 30-35 minutes until golden brown.

Beat together cream cheese and butter until smooth, gradually adding powdered sugar and vanilla until fluffy.

Spread cream cheese frosting over the warm rolls to allow it to melt into the nooks and crannies.