Combine 2 cups of the flour, brown sugar, yeast, cinnamon, and salt in a large bowl. Mix to combine.

Microwave the milk and butter for 30 seconds until warm and the butter is mostly melted. Add the warm milk and butter along with the mashed banana to the flour mixture.

Beat on low speed, gradually increasing to high until completely combined, about 2 minutes.

Scrape down the bowl and add 1 more cup of flour, beating until combined. Add the remaining cup of flour until the dough starts to pull away from the sides of the bowl.

Turn the dough out onto a floured surface and knead for about 10 minutes until smooth.

Transfer the dough to an oiled bowl and cover. Let rise in a warm place for 1 hour until doubled in size.

Combine the brown sugar, cinnamon, and salt together in a small bowl for the filling. Set aside.

Once the dough has risen, roll it out into a long rectangle about 18 x 12 inches on a floured surface.

Spread the butter for the filling all the way to the edge of the dough. Sprinkle the sugar mixture over the butter.

From the long end, roll the dough into a tight roll, sealing the bottom edge by pinching the dough together.

Cut the dough into 12 even rolls and place them in a baking pan lined with parchment paper.

Cover loosely and allow to rise for another hour until doubled in size.

Bake the cinnamon rolls at 350°F for 30 minutes or until golden brown. Allow to cool.

In a stand mixer, combine the cream cheese, butter, powdered sugar, milk, salt, and vanilla extract. Beat until light and fluffy.

Spread the icing evenly over the cinnamon rolls. Enjoy warm!