In a medium saucepan, heat milk, butter, and sugar until the butter is melted and the temperature is 120?F-130?F. Remove from heat.

In a bowl of a stand mixer, beat together 4 ? cups flour, yeast, and salt. Add melted butter mixture and mashed bananas; stir to combine until a shaggy dough forms.

Knead the dough with a dough hook attachment at medium speed for 6-8 minutes. If sticky, add additional flour gradually.

Grease a large bowl and place the dough in it, turning to coat. Cover and allow to rise until doubled in size, about 1 to 1 ? hours.

Turn the dough out onto a lightly floured surface and roll into an 18?12 inches rectangle.

Spread the dough with softened butter, leaving a ?-inch border at the top long edge. Mix brown sugar and cinnamon in a small bowl and sprinkle over the butter. Place banana slices on top.

Starting on the long edge, roll up the dough tightly into a log and pinch to seal. Cut the log into 12 equal rolls.

Grease a 9?x13? baking dish and place rolls in the pan, spiral side up. Cover and let rise for 45 minutes.

Preheat oven to 350?F (177?C). Pour warmed heavy cream over the rolls before baking. Bake for 30-35 minutes until golden brown.

Let cool in the pan for about 20 minutes before frosting.

In a large mixing bowl, beat cream cheese and unsalted butter together until smooth.

Gradually add powdered sugar and mix until combined. Beat in vanilla extract until fluffy.

Spread the cream cheese icing on the warm cinnamon rolls.