Preheat your oven to 350°F (175°C) and grease a 9x5-inch loaf pan.

In a large bowl, combine the mashed bananas, granulated sugar, brown sugar, and softened butter. Mix until well combined.

Add the eggs and vanilla extract to the banana mixture, stirring until smooth.

In a separate bowl, whisk together the flour, baking soda, salt, and ground cinnamon.

Gradually add the dry ingredients to the wet ingredients, mixing just until combined. If using, fold in the chopped walnuts.

Pour the batter into the prepared loaf pan and smooth the top with a spatula.

Bake for 55-60 minutes, or until a toothpick inserted into the center comes out clean. Let the bread cool in the pan for 10 minutes, then transfer to a wire rack to cool completely.

For the glaze, whisk together the powdered sugar and milk in a small bowl until smooth. Drizzle over the cooled banana bread rolls before serving.