Step 1: Prepare the Dough

1. In a large bowl, combine warm milk and yeast. Let sit for 5 minutes until foamy.
2. Add sugar, mashed bananas, melted butter, egg, vanilla, salt, and cinnamon. Mix well.
3. Gradually add flour, 1 cup at a time, stirring until dough forms.
4. Knead dough on a floured surface for 8-10 minutes until smooth and elastic.
5. Place dough in a greased bowl, cover, and let rise for 1 hour until doubled in size.

Step 2: Prepare the Filling

1. In a small bowl, mix softened butter, brown sugar, cinnamon, and nutmeg.
2. Stir until smooth and set aside.

Step 3: Roll Out and Fill the Dough

1. On a floured surface, roll out dough into a 15×9-inch rectangle.
2. Spread the cinnamon-sugar filling evenly over the dough.
3. Sprinkle with chopped pecans or walnuts if using.
4. Roll the dough tightly from the long side, sealing the edge.

Step 4: Cut and Arrange Rolls

1. Cut the log into 12 equal pieces using a sharp knife.
2. Arrange the rolls in a greased 9×13-inch baking dish.
3. Cover and let rise for 30-45 minutes until doubled.

Step 5: Bake and Glaze

1. Preheat oven to 350°F (175°C).
2. Bake rolls for 25-30 minutes until golden brown.
3. While baking, prepare the glaze by mixing cream cheese, butter, powdered sugar, vanilla, and milk until smooth.
4. Once rolls are baked, spread the glaze over warm rolls.