Preheat the oven to 350°F and grease a standard 9x5-inch loaf pan, then set it aside.
In a medium bowl, whisk together the flour, baking soda, salt, and cinnamon until evenly combined.
In a large bowl, whisk the maple syrup, oil or melted butter, and eggs until smooth and fully blended.
Add the mashed bananas to the wet mixture and whisk until incorporated.
Pour in the milk and vanilla extract and stir until the batter looks cohesive and glossy.
Add the dry ingredients to the wet ingredients and gently fold just until no dry flour remains.
Pour the batter evenly into the prepared loaf pan and smooth the top lightly.
Bake for 55 to 60 minutes, until the top is golden and a toothpick inserted into the center comes out clean or with a few moist crumbs.
Remove the bread from the oven and allow it to cool in the pan for 10 minutes.
Transfer the loaf to a wire rack and let it cool completely before slicing.