Preheat the oven to 350°F (175°C). Line a 12-cup muffin tin with paper liners or lightly grease the cups.
In a large bowl, mash the ripe bananas with a fork until smooth.
Add the eggs, unsweetened applesauce, Greek yogurt, and vanilla extract to the mashed bananas. Mix well until combined.
In a separate bowl, whisk together the whole wheat flour, baking soda, baking powder, ground cinnamon, and salt.
Gradually add the dry ingredients to the wet ingredients, stirring gently until just combined. Do not overmix.
Divide the batter evenly among the 12 muffin cups.
Bake for 18 to 20 minutes, or until a toothpick inserted into the center of a muffin comes out clean.
Remove the muffins from the oven and allow them to cool in the tin for 5 minutes.
Transfer the muffins to a wire rack to cool completely before serving.