Preparing the Dough

1. Activate the Yeast: In a large mixing bowl, combine warm milk and yeast. Let it sit for 5 minutes until foamy.
2. Mix Wet Ingredients: Add sugar, softened butter, eggs, mashed bananas, and salt to the yeast mixture. Stir until well combined.
3. Incorporate the Flour: Gradually add flour, one cup at a time, mixing until a soft dough forms. Work the dough on a lightly floured surface for 5-7 minutes until it becomes smooth and stretchy.
4. Let the Dough Rise: Place the dough in a greased bowl, cover with a clean towel, and let it rise in a warm place for 1-1½ hours, or until doubled in size.

Making the Filling

1. Prepare the Filling: In a small bowl, mix softened butter, brown sugar, and cinnamon until well combined.

Assembling the Rolls

1. Roll Out the Dough: Punch down the risen dough and roll it into a large rectangle (about 12×18 inches).
2. Add the Filling: Distribute the cinnamon-sugar mixture evenly across the surface of the dough. Sprinkle with chopped walnuts if using.
3. Shape the Rolls: Roll the dough tightly starting from one long edge to the other. Cut into 12 equal pieces and arrange them in a greased 9×13-inch baking dish.

Baking the Rolls

1. Let Them Rise Again: Drape a towel over the rolls and allow them to rise for an additional 30-45 minutes.
2. Bake: Preheat your oven to 350°F (175°C) and bake for 25-30 minutes or until golden brown.

Making the Cream Cheese Icing

1. Mix the Icing: Slowly incorporate the powdered sugar and vanilla extract, blending until the mixture is smooth and creamy.

Finishing Touch

1. Ice the Rolls: Spread the cream cheese icing generously over the warm cinnamon rolls before serving.