Preheat the oven to 350°F (175°C). Line a 12-cup muffin tin with paper liners or grease the cups.
In a large bowl, whisk together the all-purpose flour, baking powder, baking soda, and salt until well combined.
In a separate medium bowl, combine the mashed bananas, pure maple syrup, melted unsalted butter, egg, vanilla extract, and milk. Mix until smooth.
Pour the wet ingredients into the dry ingredients. Stir gently with a spatula until just combined. Do not overmix; the batter should be slightly lumpy.
Divide the batter evenly among the 12 muffin cups, filling each about 3/4 full.
Bake in the preheated oven 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 pan for 5 minutes. Then transfer the muffins to a wire rack to cool completely before serving.