Creating Homemade Banana Cinnamon Rolls involves a few simple steps. Follow these instructions for perfect results:

1. Prepare the Dough: In a large bowl, combine warm milk and sugar. Sprinkle the yeast over the top and let it sit for about 5 minutes, or until foamy.

2. Add Mashed Bananas: Stir in the melted butter, vanilla extract, and the mashed bananas. Mix until combined.

3. Incorporate Dry Ingredients: Add the egg, salt, and flour gradually, mixing until a dough forms.

4. Knead the Dough: Turn the dough out onto a lightly floured surface, kneading for about 5-7 minutes until smooth and elastic.

5. First Rise: Place the dough in a greased bowl, cover it with a damp cloth, and let it rise in a warm place for 1 hour or until doubled in size.

6. Prepare the Filling: While the dough is rising, mix the brown sugar and cinnamon in a small bowl. Set aside.

7. Roll Out the Dough: Once the dough has risen, punch it down and turn it onto a floured surface. Roll it out into a rectangle about 1/4 inch thick.

8. Apply the Filling: Spread the softened butter over the rolled dough, then sprinkle the brown sugar and cinnamon mixture evenly.

9. Roll the Dough: Starting from one long side, tightly roll the dough into a log shape. Pinch the seam to seal.

10. Slice the Rolls: Cut the log into 12 equal pieces and place them in a greased baking dish.

11. Second Rise: Cover the dish with a towel and let the rolls rise again for about 30 minutes.

12. Preheat the Oven: While the rolls are rising, preheat the oven to 350°F (175°C).

13. Bake: Bake rolls for 25-30 minutes or until golden brown.

14. Make the Glaze: While the rolls are baking, whisk together powdered sugar, milk, and vanilla until smooth.

15. Glaze the Rolls: Once the rolls are out of the oven, drizzle the glaze over them while they are still warm.

Enjoy your delicious Homemade Banana Cinnamon Rolls fresh out of the oven!