Preheat your oven to 350°F (175°C) and line a muffin pan with paper liners.

Mash the ripe bananas in a medium bowl until mostly smooth, leaving a few lumps for texture.

In a large mixing bowl, combine mashed bananas, light brown sugar, melted butter, eggs, vanilla extract, and milk. Mix until fully combined.

In another bowl, whisk together flour, baking soda, salt, and optional cinnamon until well blended.

Gently fold the dry ingredient mixture into the wet mixture until no dry flour remains.

Spoon the batter into the prepared muffin cups, filling each about ¾ full.

Bake for 18-22 minutes until golden brown and a toothpick comes out clean. Start checking around 18 minutes.

Allow the muffins to cool in the pan for 5 minutes, then transfer them to a wire rack to cool completely.