Preheat your oven to 350°F (175°C). Grease a 9x5-inch loaf pan.
In a large mixing bowl, combine the mashed bananas, granulated sugar, brown sugar, melted butter, egg, and vanilla extract. Mix until well combined.
In another bowl, whisk together the baking soda, salt, flour, and ground cinnamon. Gradually add the dry ingredients to the banana mixture, stirring until just combined.
In a small bowl, mix together the brown sugar and ground cinnamon for the swirl.
Pour half of the banana bread batter into the prepared loaf pan. Sprinkle half of the cinnamon sugar mixture over the batter. Pour the remaining batter on top and then sprinkle the rest of the cinnamon sugar mixture over the top. Use a knife to gently swirl the cinnamon mixture into the batter.
Bake for 50-60 minutes, or until a toothpick inserted into the center comes out clean. Allow the bread to cool in the pan for about 10 minutes, then transfer to a wire rack to cool completely.
While the bread is cooling, prepare the cream cheese glaze by beating together the softened cream cheese, powdered sugar, milk, and vanilla extract until smooth.
Once the bread is completely cool, drizzle the cream cheese glaze over the top.