In a mixing bowl, combine 1 cup of warm non-dairy milk with 2 tablespoons of brown sugar and 2 teaspoons of instant yeast. Let the mixture sit for about 5-10 minutes until it's frothy. Then, add ¼ cup of melted plant-based butter and 2 ripe mashed bananas. Mix well until everything is blended.

Gradually incorporate 3 to 4 cups of unbleached all-purpose flour and ½ teaspoon of sea salt into the banana mixture. Stir using a wooden spoon or your hands until the dough is elastic and pulls away smoothly from the sides of the bowl.

Transfer the dough onto a floured surface and knead for about 5 minutes until it becomes smooth and elastic. Shape the dough into a ball and place it in an oiled bowl, cover it with a clean kitchen towel. Let it rise in a warm area for about 45 minutes or until it has doubled in size.

Once the dough has risen, punch it down gently to release air. Roll it out onto a floured surface into a large rectangle, approximately 12x18 inches. Evenly spread 2 tablespoons of softened plant-based butter, followed by ½ cup of creamy peanut butter. Sprinkle over ½ cup of brown sugar, 2 teaspoons of ground cinnamon, and thinly sliced banana pieces.

Carefully roll the dough tightly from one end to the other, forming a log. Cut the log into 12 equal pieces and arrange the slices in a greased baking dish.

Cover the baking dish with a kitchen towel and allow the sliced rolls to rise for an additional 15 minutes in a warm spot.

Preheat your oven to 350ºF (175ºC). Once heated, bake the rolls for about 18-20 minutes or until they turn lightly golden brown on top.

In a small bowl, whisk together ½ cup of confectioners' sugar, ¼ cup of creamy peanut butter, and 2-4 tablespoons of non-dairy milk until you achieve a smooth consistency.

Once out of the oven, let the rolls cool slightly for about 5 minutes. Drizzle the peanut butter glaze generously over the warm rolls before serving.