1. Mash the peeled ripe bananas in a large bowl until smooth (a few small chunks add texture).
2. Add milk, egg, melted butter, and vanilla to the bananas. Whisk until combined.
3. In a separate bowl, stir flour, baking powder, baking soda, cinnamon, and salt.
4. Gently fold dry ingredients into wet just until no dry spots remain. Avoid overmixing; lumps are fine.
5. Let batter rest 5-10 minutes. It will thicken slightly.
6. Heat a non-stick skillet or griddle over medium heat. Lightly grease with butter or oil.
7. Scoop 1/4 cup batter per pancake. Cook until bubbles form on top and edges look set (2-3 minutes).
8. Flip and cook 1-2 minutes more until golden. Keep warm in a 200°F oven.
9. Repeat with remaining batter, greasing as needed.
10. Stack and serve hot with your favorite toppings.