Step 1: Prepare the Dough

Begin by mixing the warm milk, sugar, and yeast in a bowl. Allow it to sit for about 5-10 minutes until frothy.

Step 2: Combine Ingredients

In a large mixing bowl, combine the flour and salt. Add the yeast mixture and melted butter, followed by the egg. Mix until a dough forms.

Step 3: Knead the Dough

Transfer the dough to a floured surface and knead it for about 5-7 minutes until smooth and elastic.

Step 4: Let the Dough Rise

Place the kneaded dough in a greased bowl, cover it with a cloth, and let it rise in a warm area for about 1 hour or until doubled in size.

Step 5: Prepare the Filling

In a separate bowl, mix together softened butter, brown sugar, cinnamon, and mashed bananas until well combined.

Step 6: Roll Out the Dough

Once the dough has risen, punch it down and roll it out into a rectangle about 1/4 inch thick.

Step 7: Spread the Filling

Evenly spread the banana filling over the rolled-out dough, leaving a small border around the edges.

Step 8: Roll Up the Dough

Carefully roll the dough from the long side to create a tight log. Pinch the seam to seal.

Step 9: Slice the Rolls

Slice the rolled dough into equal portions, about 1 to 1.5 inches wide.

Step 10: Second Rise

Place the sliced rolls into a greased baking dish, cover them, and let them rise for another 30 minutes.

Step 11: Preheat the Oven

During the final rise, preheat your oven to 350°F (175°C).

Step 12: Bake the Rolls

Bake the rolls in the preheated oven for 25-30 minutes or until golden brown.

Step 13: Prepare the Glaze

While the rolls are baking, mix together powdered sugar, vanilla extract, and milk to create a smooth glaze.

Step 14: Glaze the Rolls

Once the rolls are done baking, remove them from the oven and drizzle the glaze over them while they are still warm.