Preheat your oven to 350°F (175°C) and grease a 9x9-inch baking dish.

In a large mixing bowl, combine the mashed bananas, granulated sugar, brown sugar, melted butter, egg, and vanilla extract. Mix until well combined.

Add the baking soda and salt, then stir in the flour until just combined. If using, fold in the walnuts and raisins.

On a lightly floured surface, roll out the dough into a rectangle about 1/4 inch thick.

Sprinkle the ground cinnamon evenly over the dough.

Roll the dough tightly from one long side to the other, creating a log.

Slice the log into 1-inch thick rolls and place them in the prepared baking dish.

Bake for 25-30 minutes or until golden brown.

While the rolls are baking, prepare the icing by whisking together the powdered sugar, milk, and vanilla extract in a small bowl until smooth.

Once the rolls are done, let them cool for about 10 minutes before drizzling the icing over the top.