Combine the warm milkand yeast in a large mixing bowl. Give the ingredients a quick stir and thencover the bowl with a kitchen towel for about 5 minutes, or until the mixtureis foamy.
Whisk in the mashedbananas, melted butter, vanilla, and eggs until the mixture is homogeneous.
Add the flour. Gentlywhisk until the flour is completely incorporated with the wet ingredients.
Turn the dough into a lightly floured surface and knead by hand for 5 minutes, or until the dough is smooth and elastic. Return the dough to the mixing bowl and cover with plastic wrap. Let it rise for 45 minutes.
Roll the dough out into a sheet roughly 18x8 inches. Stir together the brown sugar and cinnamon and then sprinkle the mixture over your dough.
Roll the dough into a long cylinder and then slice into discs about an inch thick. Place the cinnamon rolls in a 9x13 inch baking dish so they are laying flat and let them rest while you preheat the oven to 350°F. Bake for 25 minutes.
Prepare your frosting by whisking together the cream cheese, powdered sugar, and vanilla until smooth and creamy. Spread the frosting evenly over the cinnamon rolls as they come out of the oven
Serve immediately and enjoy!