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Preheat oven to 375 degrees.
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In a large bowl, combine the flour, quick oats, brown sugar, and cinnamon.
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In a separate bowl, mash the bananas, and then mix in the peanut butter, oil, eggs, milk, and vanilla extract.
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Stir the wet ingredients into the dry ingredients until moistened. Do not overmix.
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Spoon the batter (it will be thick) into greased muffin tins.
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Bake 20-25 minutes at 375 degrees or until a toothpick inserted into the center of the center muffins comes out clean.