Start by preheating your oven to 350 degrees Fahrenheit. While it heats, grease your 9×9 inch baking dish with butter or a light coating of cooking spray. Getting this step done first means you can pour your batter in the moment it's ready.
In your large mixing bowl, mash the two ripe bananas until they're mostly smooth with just a few small lumps left. I use a fork for this, though a potato masher works well too if your bananas are extra firm.
Add the peanut butter directly into the mashed banana and stir until it's fully blended in. The warmth from freshly mashed banana actually helps loosen the peanut butter, so this step goes faster than you'd expect.
Pour in the vanilla extract, maple syrup, and lightly beaten egg. Stir everything together until the mixture looks smooth and uniform. This is the base that holds your baked oatmeal together once it's in the oven.
Stir the milk into your wet mixture until it's fully incorporated. The batter will look thin at this point, which is exactly what you want before the oats go in.
Add the quick cooking oats, baking powder, sea salt, and cinnamon straight into the bowl. Stir until every oat is coated and there are no dry pockets left at the bottom of the bowl.
Pour the batter into your prepared baking dish and spread it into an even layer. If you'd like, drizzle the extra peanut butter across the top now so it bakes into a slightly caramelized swirl.
Bake for 25 minutes, or until the top springs back lightly when touched and the edges turn a light golden brown. Let it cool for a few minutes before slicing into squares and serving.