Banana Bread Cinnamon Rolls

Ingredients

• 1/4 c. whole milk
• 2 tbsp. unsalted butter
• 3 3/4 c. (450 g.) all-purpose flour
• 1/4 c. (50 g.) granulated sugar
• 1 tsp. kosher salt
• 1/2 tsp. ground cinnamon
• 1 (1/4-oz.) package instant yeast
• 1 large egg
• 1 c. mashed overripe bananas (from 2 to 3 large)
• 1 tsp. pure vanilla extract
• 3 tbsp. unsalted butter, softened, plus more for pan
• 1/3 c. (72 g.) packed light brown sugar
• 2 tsp. ground cinnamon
• All-purpose flour, for surface
• 1/2 c. chopped walnuts
• 6 oz. cream cheese, softened
• 3/4 c. (85 g.) confectioners' sugar
• 3 tbsp. pure maple syrup

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