Warm the milk until it is very warm to the touch but not hot. Stir in a pinch of the sugar and yeast. Set aside for it to proof and get foamy
In a stand mixer, add the salt, sugar, and flour. Slowly add the yeast mixture and egg, and mix using a dough hook. Once the mixture starts to come together, add the butter one tablespoon at a time—beating well between each addition of butter.
Once the butter is fully incorporated, knead for about 10 minutes. (If you do not have a mixer with a dough hook, you can mix by hand and knead for about 10 - 15 minutes.) Form the dough into a ball.
Lightly grease a bowl, place the dough inside, and cover with Glad Press'n Seal. Allow to sit in a warm, dry place for about an hour or until doubled in size.
While the dough is rising, make the filling. Melt the butter and lightly mash the bananas (you want lots of banana chunks) in with the butter. Add in both sugars, cinnamon, and salt. Mix to combine
Roll out the dough until it is about 14 by 24 inches. Try and get the edges as straight as possible. Spread the filling evenly on the dough, Sprinkle the nuts over the filling if using.
Tightly roll the dough lengthwise so that you have a 24 inch log. Cut out about 14 - 18 rolls and place on a 9 x 13 baking pan cut-side down. Cover with the Press'n Seal and allow it to rise as you preheat the oven to 350 degrees F
Cover the pan with aluminum foil and bake for 25 - 30 minutes.
While the rolls are baking, make the icing. Heat the butter on medium-high in a skillet until the butter browns and smells nutty. Transfer to the bowl for the mixer and freeze for about 10 minutes. It should be partially solidified. Add the cream cheese, then beat until smooth and creamy. Add the salt, vanilla, and powdered sugar, and beat until smooth. Add the heavy cream to loosen.
Allow to cool in the pan for at least 15 minutes before glazing. Serve warm.
Notes
Important: To freeze, you can place the unbaked rolls on a parchment-lined baking sheet and freeze. You can also wrap the rolls individually or in a baking pan using the Press'n Seal, which will create an airtight seal. Freeze for up to a month. To bake, thaw the rolls completely. Once thawed, preheat the oven and bake as normal. You can also "parbake" the rolls in a baking pan at 350 degrees F for 12 minutes, or until set and just starting to take on color. Allow to cool completely, then wrap with the Press'n Seal. To bake, remove from the freezer, thaw, and bake at 350 degrees for 15 minutes.