Preheat the oven to 425ºF (220ºC). 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.
Spoon the batter evenly into the muffin cups or liners, filling each one all the way to the top.
Bake for 5 minutes, then reduce the oven temperature to 375ºF (190ºC) and continue baking until golden brown and a toothpick inserted in the center comes out clean, another 15 to 20 minutes.
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.