Add milk and butter to a microwave safe bowlor measuring cup and heat on HIGH for 45 sec.
Heat for an additional 30-45 seconds, untilbutter is melted and the glass is warm (not hot) to the touch.
Pour the mixture into the bowl of a stand mixer, add in 1 tablespoon of granulated sugar and stir.
Sprinkle yeast over the top and let bloom for4-5 mins (the yeast will bubble on the top (if it doesn't your yeast is deadand you'll need to start over with fresh yeast).
Add in the 3 cups of all purpose flour, besure to use the scoop and level method so you don't add too much.
Add in the mashed bananas and an additional 2 tablespoons of granulated sugar.
Mix with a dough hook on medium speed for 4mins.
Remove from the mixing bowl and into a bowlsprayed with non stick spray.
Cover and let rise in a warm area for 30 mins.
Once it rises, punch down the dough, turn outonto a lightly floured surface andknead the dough lightly until no longer sticky. You can add a bit of flour if too sticky but don't add too much. Roll out the dough into a rectangle about10x15 .
Spread the butter all over the dough.
Mix brown sugar and cinnamon together, then liberally sprinkle all over the buttered dough.
Roll the dough tightly. Use unflavored floss, bakers twine or a very sharp knife to slice rolls that are about 1.5 inch thick.
Place into a lightly buttered (or sprayed with non stick spray) baking dish. Leave a little space for rolls to rise when placing them in the pan.
Pour room temp heavy cream over the rolls,cover with a towel and rise for an additional 30 mins.
Preheat the oven to 350 and bake for 20-25 mins.
Once the rolls are golden on the top remove from the oven and let rest.
Make the icing glaze by combining the powdered sugar, heavy cream and vanilla.Pour or pipe over the warm rolls, top with chopped nuts if desired, serve and enjoy