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

In a large mixing bowl, mash ripe bananas until smooth and add granulated sugar, brown sugar, melted butter, egg, and vanilla extract. Mix until creamy, about 2-3 minutes.

In a separate bowl, whisk together all-purpose flour, baking powder, baking soda, salt, and ground cinnamon.

Fold the dry ingredients into the wet mixture gently until just combined; a few lumps are okay.

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

Sprinkle cinnamon sugar over the rolled-out dough and press it in gently.

Roll the dough tightly into a log and slice it into 1-inch thick rolls.

Arrange the sliced rolls in the prepared baking dish, ensuring they fit snugly without overcrowding.

Bake for 20-25 minutes until golden brown and a toothpick inserted comes out clean.

Prepare the cream cheese glaze by mixing softened cream cheese, powdered sugar, and milk until smooth.

Once baked, let the rolls cool slightly and drizzle the cream cheese glaze over the top before serving.