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Set oven to 350°F (175°C) and grease a 9-inch cake pan.
In a large bowl, whisk bananas, sugars, oil, eggs, and vanilla until smooth.
In a separate bowl, mix flour, baking soda, baking powder, cinnamon, and salt.
Add dry mixture to wet ingredients; stir gently and fold in chopped pecans.
Pour batter into prepared pan and bake 35–45 minutes until golden and toothpick comes out clean.
Let the cake rest 10–15 minutes before transferring to a rack.
Mix powdered sugar, milk, and vanilla; drizzle over cooled cake.
Slice and enjoy warm or at room temperature.