Preheat the oven to 375 degrees F. Coat a standard muffin pan with nonstick spray.
In a large bowl, stir together the yogurt, banana, peanut butter, maple syrup, eggs, and vanilla.
Add the flour, baking powder, baking soda, cinnamon, and salt.
Gently stir the yogurt mixture into the flour mixture.
Divide the batter among the prepared muffin pan, using about ¼ cup in each muffin.
Bake for 14-16 minutes or until the edges are lightly golden brown and a cake tester inserted into the center comes out clean. Let cool for a minute or two, then remove from pan and cool completely on a wire rack before serving.
