In a small saucepan, combine milk and banana. Bring to a boil; remove from the heat. Cool slightly; cover. Refrigerate 8 hours or overnight.

In a large bowl, mix sugar, yeast, salt and 2 cups flour. In a small saucepan, heat banana milk mixture and butter to 120°-130°. Add to dry ingredients; beat on medium speed 2 minutes. Add eggs; beat on high 2 minutes. Stir in enough remaining flour to form a soft dough (dough will be sticky).

Turn out dough onto a floured surface; knead until smooth and elastic, 6-8 minutes. Place in a greased bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour.

Mix brown sugar, cinnamon and cloves. Punch down dough. On a lightly floured surface, roll dough into an 18×12-in. rectangle. Brush with butter; sprinkle with the brown sugar mixture to within 1/2 in. of edges. If desired, sprinkle with walnuts. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 12 slices; place in a greased 13×9-in. pan, cut side down. Cover with a kitchen towel. Let rise in a warm place until doubled, about 1 hour. Preheat oven to 350°.

Bake until golden brown, 20-25 minutes. Cool on wire racks.

For frosting, beat butter, cream cheese, vanilla, salt, cinnamon and cloves until blended; gradually beat in confectioners’ sugar. Spread over tops. Refrigerate leftovers.