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Preheat the oven to 350°F and line a 12-cup muffin pan with paper liners.
In a large mixing bowl, whisk together the melted butter and granulated sugar until combined.
Add the vanilla extract, egg, mashed banana, Greek yogurt, and milk, whisking until smooth.
Add the flour, baking powder, cinnamon, and salt, then stir just until combined.
In a small bowl, combine the granulated sugar and cinnamon for the filling.
In a separate bowl, mix together the brown sugar, cold butter, flour, and cinnamon for the streusel, using your fingers or a fork until the mixture resembles coarse crumbs.
Fill each muffin liner halfway with batter.
Sprinkle a layer of the cinnamon sugar filling over the batter, then top with the remaining batter.
Finish each muffin with a generous amount of streusel topping.
Bake for 18–22 minutes, or until the tops are lightly golden and a toothpick inserted into the center comes out clean.
While the muffins cool slightly, whisk together the confectioners sugar and milk until smooth.
Drizzle the icing over the warm muffins and serve.