Banana Bread Cinnamon Rolls with a Twist

Ingredients:

For the Dough:

1 cup warm milk

2 1/4 teaspoons active dry yeast (1 packet)

1/4 cup sugar

1/2 cup mashed ripe bananas (about 1 large banana)

1/4 cup melted butter

1 teaspoon vanilla extract

3 cups all-purpose flour

1/2 teaspoon salt

1 egg (room temperature)

For the Filling:

1/2 cup brown sugar (packed)

1 tablespoon ground cinnamon

1/4 cup softened butter

1/4 cup mashed ripe banana (about 1/2 banana)

For the Glaze:

1 cup powdered sugar

2 tablespoons milk

1/2 teaspoon vanilla extract