Preheat:
Preheat oven to 350°F (175°C) and line a 12-cup muffin pan with liners or lightly grease it.
Mix dry ingredients:
In a medium bowl, mix rolled oats, flour, baking soda, baking powder, cinnamon, and salt.
Combine wet ingredients:
In a large bowl, mash bananas and add eggs, yogurt, honey, milk, and vanilla. Whisk until smooth.
Combine mixtures:
Gradually fold the dry ingredients into the wet ingredients until just combined. Avoid overmixing for soft muffins.
Fill muffin cups:
Spoon batter evenly into muffin liners, filling about ¾ full.
Bake:
Bake for 18–20 minutes, or until a toothpick inserted in the center comes out clean.
Cool and enjoy:
Let muffins cool in the pan for 5 minutes, then transfer to a rack. Serve warm or store for later.