Preheat oven to 350°F (180°C). Spray a 17¼x12¼-inch rimmed baking sheet with baking spray with flour.

In a large bowl, whisk together flour, baking powder, salt, cinnamon, and baking soda.

In another large bowl, whisk together sugar and oil until light and fluffy, 2 to 4 minutes. Add eggs, one at a time, whisking until well combined after each addition. Add bananas and vanilla, whisking until well combined.

Gradually add flour mixture to sugar mixture alternately with yogurt, beginning and ending with flour mixture, whisking until well combined after each addition. Spread batter into prepared pan.

Bake until a wooden pick inserted in center comes out clean, 20 to 30 minutes. Immediately pour and spread Peanut Butter Icing onto hot cake. Garnish with peanuts, if desired. Let cool completely in pan on a wire rack before serving. Store in airtight container for up to 3 days.