Preheat oven to 350In a large bowl sift together flour, sugar, brown sugar, baking powder, salt and cinnamon until combined. Set aside.In a food processor combine bananas, yogurt, milk, peanut butter, egg, oil and vanilla. Pulse until it is smooth.
Pour the wet ingredients into the flour mixture and fold until just combined. Stir in chocolate chips.Spray muffin tins with cooking spray and fill until full.
Bake on middle rack for 20-25 minutes or until a toothpick comes out clean.