Preheat oven to 350°F and line a baking dish with parchment paper.
In a large bowl, mix mashed bananas, granulated sugar, brown sugar, melted butter, egg, and vanilla extract until smooth.
In another bowl, whisk together flour, baking powder, baking soda, salt, and cinnamon.
Gradually fold dry ingredients into wet mixture until just combined without overmixing.
Turn dough onto a floured surface and roll into a 1/2-inch thick rectangle.
Mix brown sugar and cinnamon; sprinkle evenly over the dough.
Roll dough tightly into a log, then cut into 1-inch thick rolls.
Place rolls in the prepared baking dish.
Bake rolls for 20-25 minutes until golden brown and cooked through.
While baking, beat softened cream cheese, powdered sugar, and milk until smooth to prepare the glaze.
Drizzle cream cheese glaze on warm rolls before serving.