Preheat your oven to 350°F (175°C) and line a baking dish with parchment paper.

Combine mashed ripe bananas, granulated sugar, brown sugar, melted butter, egg, and vanilla extract in a large bowl. Mix until smooth.

Whisk together flour, baking powder, baking soda, salt, and ground cinnamon in a separate bowl.

Fold the dry ingredients into the wet mixture gradually until just combined.

Roll out the dough onto a floured surface into a rectangle, about 1/2-inch thick.

Sprinkle the cinnamon sugar mixture evenly over the dough. Then, roll it tightly into a log and cut into 1-inch thick rolls.

Arrange the cut rolls in the prepared dish, spacing them slightly apart. Bake for 20-25 minutes until golden brown.

Prepare the cream cheese glaze while the rolls are baking by mixing softened cream cheese, powdered sugar, and milk until smooth.

Drizzle the cream cheese glaze over the warm rolls before serving.