Preheat the oven to 375°F (190°C). Lightly grease a 9×5-inch loaf pan and line it with parchment paper, leaving some overhang for easy removal.
In a medium bowl, whisk together the all-purpose flour, baking powder, baking soda, salt, and ground cinnamon until well combined.
In a large bowl, combine the mashed bananas, granulated sugar, light brown sugar, melted butter, and vanilla extract. Mix well until smooth.
Beat the eggs into the banana mixture one at a time until fully incorporated.
Alternately add the dry ingredients and whole milk to the banana mixture, beginning and ending with the dry ingredients. Stir gently until just combined; do not overmix.
Pour the batter into the prepared loaf pan and smooth the top with a spatula.
Bake in the preheated oven for 40 to 45 minutes, or until a toothpick inserted into the center comes out clean and the top is golden brown.
Remove the bread from the oven and allow it to cool in the pan for 10 minutes.
Using the parchment paper overhang, lift the bread out of the pan and transfer it to a wire rack to cool completely before slicing.
Slice and serve the Banana Muffin Rustic Bread plain or with a spread of butter.