Preheat oven to 350 degrees and prepare a cookie sheet with parchment paper
Mix bananas, vanilla, peanut butter, and maple syrup into a creamy consistency in a large bowl.
In another bowl, combine oats, flour, baking powder, and salt.
Preheat oven to 400 degrees.
Grease muffin tin or insert paper muffin cups.
Soak oats in the yogurt, set aside.
Using an electric mixer, beat the egg, oil, applesauce, and brown sugar.