I always start by turning my oven to 350°F so it's fully heated by the time my batter is ready. While it warms up, I line a 12-cup muffin tin with silicone liners or give it a light spray of nonstick oil. This one small step is what keeps the cups from tearing apart when you try to remove them later.
In a medium bowl, I stir together the oats, eggs, milk, and maple syrup until everything is fully combined. If I'm adding vanilla, cinnamon, or baking powder, this is the point where they go in. The batter should look loose and a little wet, which is exactly what you want.
This is my favorite part because it's where I get to customize each batch. I sometimes split the batter into a few bowls and add different fruits or chocolate chips to each one, so my family gets variety without me making multiple recipes. Fresh or frozen fruit both work fine here.
I use a measuring cup to scoop the batter into each liner, making sure the liquid level is roughly the same in every cup. Uneven filling is the main reason some cups turn out dry while others stay too wet. If you're adding toppings like banana slices, I press them gently on top now.
I slide the tray into the oven and bake for 20 to 22 minutes, until the tops turn light golden and a toothpick comes out clean. The cups will look a little puffed while baking and settle slightly as they cool, which is completely normal.
I let the cups rest in the tin for about 5 minutes before transferring them to a wire rack. This little pause makes them so much easier to remove without falling apart, and it also helps the texture firm up nicely.