Preheat your oven to 350 degrees and generously butter your bundt pan.
Whisk together flour, baking soda and salt and set aside.
In a large bowl, beat your butter until creamy. Add sugar and beat until fluffy, then add in your vanilla. Add eggs one at a time, beating after each addition. Dump in your bananas and mix slowly until combined. Add dry ingredients a little at a time until incorporated. Add Greek yogurt and mix until combined.
Tap your pan on the counter a few times to help the batter settle.
Bake for 65-75 minutes, or until a fork inserted in the center of the cake comes out clean.
If cake begins to brown to quickly cover halfway through with a loose foil tent.
When cake is done, transfer to a cooling rack.
For the Icing
Whisk together powdered sugar, vanilla and milk, adding milk a little at a time until glaze is thin enough to drizzle on cooled cake.