In a mixing bowl, combine flour, sugar, baking powder, baking soda, and salt.

In another bowl, whisk together the mashed banana, milk, melted butter, and egg.

Pour the wet ingredients into the dry ingredients and mix until just combined.

Knead the dough on a floured surface for about 2 minutes until smooth.

In a small bowl, mix together brown sugar, cinnamon, and softened butter until well combined.

Roll out the dough into a rectangle on a floured surface.

Spread the filling evenly over the dough, leaving a small border.

Roll the dough tightly into a log and cut into 8 equal pieces.

Place the rolls in a greased baking sheet, cut side up.

Preheat the oven to 350°F (175°C).

Bake the rolls for 20-25 minutes or until golden brown.

In a bowl, whisk together powdered sugar, milk, and vanilla extract until smooth.

Drizzle the glaze over the warm rolls before serving.