Preheat oven to 350°F (175°C) and line a 12-cup muffin tin with paper liners. Lightly spray the top of the pan with cooking oil to prevent overflow.
Mash bananas in a large bowl until mostly smooth with some chunks (about 1½ cups).
Stir in peanut butter (softened), vegetable oil, milk, egg, and vanilla. Whisk until smooth, leaving a few banana lumps.
Add both sugars and whisk until dissolved – the mixture should feel smooth, not grainy.
In a separate bowl, whisk flour, cocoa powder, baking soda, and salt. Make sure to break up any cocoa lumps.
Add dry ingredients to wet mixture and stir gently with a spatula until no dry flour remains. The batter will be thick.
Fold in chocolate chips and peanuts with 2-3 strokes, leaving some streakiness.
Divide batter among muffin cups, filling about ¾ full. Gently tap the pan to settle the batter.
Bake for 18-22 minutes or until a toothpick inserted comes out with moist crumbs (not wet batter). The tops should spring back when pressed.
Cool in the pan for 5 minutes, then transfer to a wire rack to cool completely. They’re amazing warm with melty chocolate and optional peanut butter drizzle.