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Arrange racks in upper and lower thirds of oven; preheat to 350°. Grease 2 (6-cavity) donut pans with cooking spray.
In a medium bowl, whisk flour, baking powder, cinnamon, salt, and baking soda.
In a large bowl, whisk egg, brown sugar, butter, and vanilla. Add banana and sour cream and whisk until combined. Add dry ingredients and whisk until just combined.
Spoon batter into prepared wells, filling each to just below the center ring.
Bake donuts until firm to the touch and edges are golden, 12 to 14 minutes.
Transfer pans to wire racks and let cool for 5 minutes. Remove donuts from pans, transfer to wire racks, and let cool for 5 minutes more.
In a medium bowl, combine sugar, syrup, and milk until smooth. Add more milk, 1 tsp. at a time, if needed to thin glaze to make it easily dippable.
Dip tops of donuts into glaze, then return to wire racks. Top with walnuts (if using).