Whisk the flour, brown sugar, Rapid Rise yeast, cinnamon, and salt in a large mixing bowl.
Warm the milk with the butter until the butter is mostly melted, then let the mixture cool until warm.
Add the warm milk mixture and mashed banana to the dry ingredients and mix until a soft dough forms.
Knead the dough for 5 to 7 minutes, adding only small sprinkles of flour if the dough is difficult to handle.
Place the dough in a greased bowl, cover, and let it rise until puffy and nearly doubled.
Roll the dough into a rectangle on a lightly floured surface and spread the softened filling butter across the top.
Mix the brown sugar, cinnamon, and salt for the filling, then sprinkle it evenly over the buttered dough.
Roll the dough tightly from the long side, slice into 12 rolls, and place them in a greased 9x13-inch baking dish.
Cover the pan and let the rolls rise until puffy and touching in spots.
Bake at 350°F for 23 to 28 minutes, or until the tops are lightly golden and the centers are set.
Beat the frosting butter and cream cheese until smooth, then add powdered sugar, cinnamon, milk, vanilla, and salt.
Spread the cinnamon cream cheese frosting over the warm rolls and serve.