Mash the bananas and add the vanilla extract, yogurt and milk. Set aside.
In a bowl combine baking soda, salt and the flour and mix thoroughly. Set aside.
Put the sugar and butter in a large bowl and beat with a mixer or by hand until light and fluffy. Beat in the eggs one at a time. Beat for about 1 minute each.
Add the banana mixture and combine thoroughly.
Add the flour and beat about 2 minutes. Mix thoroughly and scrape down the sides a couple of times while mixing.
Stir in the nuts with a spoon.
Pour the batter into the pan.
Bake for 50-60 minutes. Test with a long wooden skewer to see if it is done. Cool on a rack in the pan about 30 minutes, Using a thin spatula or knife, loosen the cake CAREFULLY and remove from the pan [Photo24766]. Cool the cake completely on the rack.
This cake is very soft and slices more easily when it is completely cool. I used a serrated knife to slice it.