Creating Homemade Banana Cinnamon Rolls is straightforward and enjoyable if you follow these detailed steps:

1. Prepare the Dough: In a large bowl, mix the warm milk, sugar, and yeast. Allow it to sit for about 5 minutes until frothy.
2. Combine Wet Ingredients: Add the mashed bananas, melted butter, egg, vanilla extract, and salt into the yeast mixture. Mix well until combined.
3. Add Flour: Gradually stir in 2 cups of flour, one cup at a time, until a sticky dough forms. If necessary, add more flour until the dough pulls away from the sides of the bowl.
4. Knead the Dough: On a floured surface, knead the dough for about 5-7 minutes until smooth and elastic.
5. First Rise: Place the dough in a greased bowl. Cover it with a kitchen towel and let it rise in a warm place for 30 minutes or until doubled in size.
6. Prepare the Filling: In a small bowl, mix together brown sugar and cinnamon. Set aside.
7. Roll the Dough: Once the dough has risen, roll it out on a floured surface into a rectangle, around 1/4-inch thick.
8. Add Filling: Spread the melted butter over the surface of the dough, then sprinkle the cinnamon-sugar mixture evenly on top. If using, add chopped nuts.
9. Shape the Rolls: Starting from one long edge, carefully roll the dough tightly into a log. Pinch the seams to seal.
10. Slice the Rolls: Cut the rolled dough into about 10-12 equal pieces and place in a greased 9×13-inch baking dish.
11. Second Rise: Cover and let rise for another 30 minutes until puffy.
12. Preheat Oven: While the rolls are rising, preheat your oven to 375°F (190°C).
13. Bake: Bake the rolls for 18-20 minutes or until golden brown.
14. Cool Slightly: Allow the rolls to cool for about 10 minutes before frosting (if desired) with cream cheese frosting.

These steps guide you to create your delicious Homemade Banana Cinnamon Rolls with ease!