Heat oven to 190C / 375F. Line a 12-cup muffin tin with paper liners.
Whisk flour, baking soda, baking powder, salt, and cinnamon in a bowl.
In a separate bowl, mash bananas, then whisk in brown sugar, melted butter, eggs, buttermilk, and vanilla until smooth.
Pour wet ingredients into dry and fold just until no dry streaks remain. Don't overmix or the muffins will turn dense. Fold in walnuts.
Divide batter evenly among muffin cups, filling each about three-quarters full.
Mix cinnamon sugar topping and sprinkle over each muffin, then scatter a few extra walnuts on top.
Bake for 18 to 20 minutes, until a toothpick inserted in the center comes out clean and tops spring back when pressed.
Cool in the tin for 5 minutes, then move to a wire rack to cool for 10 minutes more before serving.