Preheat oven to 350 F. Spray a 9-by-13-inch baking sheet or dish with nonstick spray.
In a small bowl, whisk together flour, baking soda, cinnamon and salt.
In the bowl of electric mixer, beat together the butter and sugars until light and fluffy, about 5 minutes. Beat in the eggs one at a time. Beat in the vanilla extract. Beat in the mashed bananas and yogurt until combined.
Stir in dry ingredients on low speed, scraping down the sides if needed, until just combined. Don’t overmix.
Pour mixture into greased baking dish. Bake for 28 to 33 minutes or until a tester inserted in the center comes out clean.
Make the frosting by beating the cream cheese and butter together until creamy. Beat in the sugar and espresso powder until combined. Beat in the vanilla extract.