Combine the flour, baking soda, salt and cinnamon in a large mixing bowl.
Place sugar and butter in a large bowl, and beat with a mixer at medium speed until well blended (about 1 minute).
Add the eggs, 1 at a time, beating well after each addition.
Add banana, yogurt, and vanilla; beat until blended.
Add flour mixture to the wet mixture and beat at low speed just until moist.
Spoon batter into an 8 ½ x 4 ½-inch loaf pan coated with cooking spray.
Bake at 350°F for 1 hour or until a wooden tooth pick inserted in center comes out clean. Cool 10 minutes in pan on a wire rack; remove from pan. Cool completely on wire rack.
Notes
*For a lower sugar version you can reduce the sugar to 1/2 cup or use 1/2 cup honey or maple syrup instead of the sugar.