In a large bowl, whisk together 2 cups of all-purpose flour, ¾ cup sugar, 2 teaspoons baking powder, ½ teaspoon baking soda, and ½ teaspoon salt until well combined. In a separate bowl, mix ½ cup melted butter, 1 cup mashed ripe bananas, 1 beaten egg, ½ cup milk, and 1 teaspoon vanilla extract. Pour the wet ingredients into the dry mixture and gently stir until just combined, being careful not to overmix.

Lightly flour your work surface and transfer the dough onto it. Using a rolling pin, roll it out into a rectangle approximately 12x10 inches in size. Brush the surface with 2 tablespoons of melted butter and sprinkle evenly with ½ cup brown sugar and 1 tablespoon of ground cinnamon. Carefully roll the dough into a tight log, sealing the edges before slicing the log into 4 equal wedges using a sharp knife.

Preheat your oven to 375°F (190°C) while you prepare your baking sheet. Line a baking sheet with parchment paper for easy cleanup and place the sliced rolls on it with enough space to expand. Allow the rolls to rise slightly as the oven heats; they should look plump and nestled close together before going in to bake.

Once preheated, place the baking sheet in the oven and bake the Soft Banana Bread Cinnamon Rolls for 18–20 minutes. Keep an eye on them; when they turn golden brown and feel springy to the touch, they’re ready to be taken out.

While the rolls are baking, prepare the creamy icing by whisking together 1 cup of powdered sugar and 2–3 tablespoons of milk in a small bowl until you achieve a smooth, drizzling consistency.

Once the rolls are done baking, remove them from the oven and let them cool for about 5 minutes on the baking sheet. Drizzle the creamy icing generously over the warm rolls, allowing it to melt slightly into the nooks and crannies.