Preheat oven to 425°F (218°C). Spray mini muffin pan with nonstick spray or line them with liners. Set aside.

In a medium bowl, whisk the mashed bananas, honey or maple syrup, brown sugar, yogurt, egg, and milk together until combined. Whisk in the peanut butter and vanilla extract until smooth and thick. Set aside.

In a large bowl, whisk the flour, cinnamon, baking soda, baking powder, salt, and chocolate chips together (if using). Pour the wet ingredients into the dry ingredients and lightly whisk until combined. Stir as little as possible until no flour pockets remain.

Fill the muffin cups practically all the way to the top. Between 3/4 full and all the way full. Bake for 5 minutes at 425°F (218°C).

Keeping the muffins in the oven, reduce the oven temperature to 350°F (177°C) and continue to bake for 11 more minutes or until a toothpick inserted in the center comes out clean. Drizzle muffins with melted peanut butter if desired.