Position a rack in the center of the oven and preheat to 350 degrees F. Line a 12-cup muffin tin with paper liners and set aside. Whisk the flour, baking soda and salt together in a medium bowl. Whisk the bananas, sugar, yogurt, oil and vanilla together in another medium bowl. Gently fold the wet ingredients into the dry ingredients with a rubber spatula until the batter just comes together (it's okay if there are lumps).
Spoon about 1/4 cup of the batter into each lined muffin cup and bake until a tester inserted in the center comes out clean, about 30 minutes. Cool the muffins in the pan on a wire rack for 30 minutes, then remove muffins from pan and transfer to a rack to cool completely. Store the muffins in an airtight container at room temperature for up to 5 days.
When measuring flour, we spoon it into a dry measuring cup and level off excess. (Scooping directly from the bag compacts the flour, resulting in dry baked goods.)
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