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Heat the milk, sugar, butter, and salt in a medium saucepan over medium heat until the temperature reaches 85º to 90º Fahrenheit. Transfer the mixture to the bowl of a stand mixer fitted with the paddle attachment and stir in the yeast.
Add 2 cups of the flour and mix until smooth. Switch to the dough hook. Continue adding flour, ½ cup at a time, just until the dough begins to pull away from the sides of the bowl. The dough should feel soft and slightly tacky.
Knead the dough on medium speed for 3 to 5 minutes, until it becomes smooth and shiny. Transfer the dough to a clean surface. Clean and dry the mixing bowl, then grease it lightly with oil or baking spray. Return the dough to the bowl, cover, and let rise for about 2 hours or until doubled in size.
Filling
Mix the softened butter, brown sugar, salt, and cinnamon in a large bowl with an electric mixer until well combined. Set aside.
Assembly
Grease a 9x13 baking dish and line it with parchment paper.
Once the dough has risen, roll it out on a clean surface into a large rectangle, about twice the size of the baking dish.
Spread the prepared filling evenly over the dough. Top with the banana slices and sprinkle with chopped walnuts. Cut the dough into 12 strips using a pastry cutter or pizza wheel.
Roll each strip into a spiral and place them in the prepared dish. Cover the pan with a tea towel or plastic wrap and let the rolls rise for 30 minutes.
Preheat the oven to 350º Fahrenheit.
Once the rolls have risen, uncover and bake for 35 to 40 minutes, or until the tops are golden brown.
Icing
Beat the softened cream cheese, vanilla extract, and half of the powdered sugar in the bowl of a stand mixer with the whisk attachment on low speed.
Gradually add the remaining powdered sugar. Continue to cream on medium-low speed. Add milk, 1 tablespoon at a time, until the icing reaches the desired consistency. Spread the icing over the warm rolls before serving.