Mash bananas in a large bowl.
Add warm milk and sugar, mix well.
Add yeast, wait until foamy.
Add egg, melted butter, salt, and flour.
Knead dough until smooth and soft.
Cover, let it rise until doubled.
Roll dough into a rectangle shape.
Brush with melted butter evenly.
Sprinkle brown sugar and cinnamon.
Roll up tightly into a log.
Cut into 10 equal rolls.
Place in a greased baking dish.
Cover, let them rise again.
Bake at 350°F for 20 minutes.
Mix icing ingredients until smooth.
Drizzle icing over warm cinnamon rolls.
Serve your Banana Bread Cinnamon Rolls Recipe fresh.