01 -
In a bowl, whisk together warm milk, active dry yeast, and a pinch of granulated sugar. Allow the mixture to rest until foamy, approximately 5 minutes.
02 -
Incorporate mashed bananas, melted unsalted butter, large egg, remaining granulated sugar, and salt into the yeast mixture. Stir until well combined.
03 -
Gradually mix in all-purpose flour until a smooth dough develops. Turn out onto a floured surface and knead for 5 minutes. Cover and set aside to rise in a warm place until doubled, about 1 hour.
04 -
Roll the dough into a rectangle. Evenly spread softened butter over the surface. Sprinkle brown sugar and ground cinnamon throughout. Roll tightly to form a log, then slice into 9 equal portions.
05 -
Arrange rolls in a greased baking dish. Cover and allow them to rise for 20 minutes. Bake in a preheated oven at 350°F until golden brown, approximately 25 minutes.
06 -
Blend powdered sugar with 2 to 3 tablespoons milk to create a smooth icing. Drizzle over the warm cinnamon rolls before serving.