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

In a mixing bowl, mash 3 ripe bananas until smooth. Add granulated sugar, brown sugar, melted butter, egg, and vanilla extract. Stir until creamy.

In another bowl, whisk together flour, baking powder, baking soda, salt, and ground cinnamon.

Gradually add dry ingredients to wet mixture, folding gently until just combined.

Turn the dough onto a floured surface and roll it out into a rectangle about 1/2-inch thick.

Sprinkle a cinnamon-sugar mixture over the dough, tightly roll into a log shape, and slice into 1-inch thick rolls.

Bake for 20-25 minutes, or until golden brown and springy to the touch.

Prepare cream cheese glaze by mixing cream cheese, powdered sugar, and milk until smooth. Drizzle over warm rolls.