In a mixing bowl, combine the mashed ripe banana, whole wheat flour, Greek yogurt, honey, baking powder, and vanilla extract. Mix well until you have a smooth dough. If the dough is too sticky, you can add a bit more flour. Set aside.
In a skillet, heat olive oil over medium heat. Add the diced apple to the pan and sauté for a few minutes until they begin to soften. Sprinkle the ground cinnamon over the apples and drizzle with honey. Continue to sauté until the apples are tender and coated in the honey-cinnamon mixture. Remove from heat and set aside.
Roll out the dough into a rectangle on a lightly floured surface, aiming for about 1/4-inch thickness. Distribute the sauteed apple pieces evenly across the dough.
Starting from one of the longer edges, carefully roll the dough into a log shape. Once rolled, use a sharp knife to cut the log into individual rolls, each about 1 inch thick.
Place the apple pie cinnamon rolls on a baking sheet lined with parchment paper, leaving some space between each roll. Bake in a preheated oven at 350°F (175°C) for about 20-25 minutes or until the rolls turn golden brown.
Allow the cinnamon rolls to cool for a few minutes. While they are cooling, prepare the yogurt-based glaze by mixing Greek yogurt with honey or powdered sugar until it reaches your desired consistency. Drizzle the glaze over the warm cinnamon rolls. Sprinkle chopped pecans on top for added flavor and texture. Serve warm and enjoy!