Preheat oven to 400º Line 12-cup regular muffin tin with muffins liners. If you prefer, you can also spray the muffin tin with baking spray and skip the liners.
In a large bowl, mash bananas with a fork until only small chunks remain. Add brown sugar, oil, yogurt and vanilla; mix until well combined.
Add flour, baking soda, baking powder and salt. Combine wet and dry mixture until just combined. Do not over-mix.
Fill muffins liners 3/4 full.
Place muffin tin in oven and immediately reduce the oven temperature to 350º F.
Bake for approximately 20 minutes or until a toothpick inserted into the center of a muffin comes out clean, and tops are turning golden brown.
Allow the muffins to cool for 5 minutes in the muffin pan, then transfer to a wire rack to continue cooling. Drizzle with glaze, if desired.