Preheat the oven to 350°F and line a standard 12-cup muffin pan with paper liners.
In a large mixing bowl, combine the mashed bananas, melted butter, oil, brown sugar, and granulated sugar, then stir until smooth and well blended.
Add the eggs one at a time, mixing well after each addition until fully incorporated.
Stir in the yogurt and vanilla extract until the mixture looks creamy and cohesive.
Sprinkle the baking soda, baking powder, salt, and cinnamon evenly over the wet mixture and stir gently to combine.
Add the flour and fold it in carefully until just combined, stopping as soon as no dry streaks remain.
Divide the batter evenly among the prepared muffin cups, filling each about three-quarters full.
Bake for 18 to 22 minutes, or until a toothpick inserted into the center of a muffin comes out clean or with a few moist crumbs.
Remove the pan from the oven and let the muffins cool in the pan for 5 minutes.
Transfer the muffins to a wire rack and allow them to cool completely before serving or storing.