01 - Preheat oven to 350°F and line a 12-cup muffin tin with paper liners or grease with butter.
02 - Whisk together flour, granulated sugar, brown sugar, baking powder, baking soda, salt, and cinnamon in a large bowl.
03 - In a separate bowl, combine mashed bananas, melted butter, eggs, vanilla extract, and milk until thoroughly blended.
04 - Pour wet ingredients into dry ingredients and fold gently until just combined. Avoid overmixing to ensure tender muffins.
05 - Divide batter evenly among the prepared muffin cups, filling each about three-quarters full.
06 - Bake for 18-22 minutes until a toothpick inserted into the center comes out clean.
07 - Let muffins rest in the tin for 5 minutes, then transfer to a wire rack to cool completely.