Preheat oven to 350º F (180º C). Using a baking spray, generously grease the cake 9-inch springform pan.
In a large bowl, whisk together flour, baking powder, baking soda, salt, and cinnamon. Set aside.
In a mixing bowl, combine milk and vinegar. Let the mixture stand at room temperature for 5 minutes. When it is ready, the milk will be slightly thickened, and you will see small curdled bits. Reserve.
In a large bowl, beat at medium-high speed butter and sugars until creamy and fluffy, about 3 minutes. Scrape down the sides and up the bottom of the bowl with a rubber spatula as needed. Add mashed bananas, yogurt, and vanilla; continue beating to combine.
Reduce speed to low and add half of the flour mixture. Scrape down the mixing bowl with a spatula and turn the batter over several times to ensure all of the ingredients are well incorporated. Add milk mixture; continue beating to incorporate. Add the remaining flour; beat just until combined. Do not overmix this batter. The batter will be slightly thick, and a few lumps are okay.
Pour the cake mixture into the prepared pan.
Bake for 50 - 60 minutes, or until a skewer comes out clean when poked in the center. Baking times vary, so keep an eye on yours. The cake is done when a toothpick inserted in the center comes out clean. If you find the top of the cake is browning too quickly in the oven, loosely cover it with aluminum foil. Allow cake to cool completely in the pan set on a wire rack. The cake must be completely cool before frosting.