Using a hand or stand mixer, cream sugar and butter together in a large mixing bowl until the mixture is light and fluffy.
Add each egg, one at a time, and beat well after each egg is added
In a second, smaller bowl, mix the mashed bananas with the milk, yogurt, and cinnamon with a whisk.
In a third bowl, mix together the rest of the dry ingredients including the flour, baking soda, and baking powder
Add the creamed sugar mixture and the banana mixture together and mix until fully combined.
Add the dry ingredients and mix until the flour is mixed into the batter (do not over-mix)