Preheat oven to 375°F (190°C) and grease a 9-inch round baking pan.

In a large mixing bowl, whisk together flour, granulated sugar, baking powder, and salt.

Incorporate the cold cubed butter into the dry ingredients using a pastry cutter until the texture resembles coarse meal.

Fold in the mashed bananas and milk until a cohesive dough forms.

Transfer dough to a lightly floured surface and roll into a 12x9 inch rectangle.

Spread softened butter over the dough surface and sprinkle evenly with brown sugar and ground cinnamon.

Roll the dough tightly from the long edge to form a log, then slice into 12 equal rounds.

Arrange slices in the prepared baking pan and bake for 22 to 25 minutes or until golden brown.

Combine cream cheese, powdered sugar, and milk in a small bowl, whisking until smooth.

Apply the glaze over the rolls while they are still warm.