Preheat oven to 350°F (175°C). Line a 12-cup muffin pan with paper liners or lightly grease with nonstick spray.
In a large bowl, mash the ripe bananas until smooth but slightly chunky.
Add eggs, vegetable oil, granulated sugar, brown sugar, milk, and vanilla extract to the mashed bananas. Whisk until combined.
In a separate bowl, whisk together flour, baking powder, baking soda, salt, cardamom, and cinnamon.
Gently fold dry ingredients into the banana mixture. Stir just until combined—do not overmix.
Spoon batter evenly into muffin cups, filling each about ¾ full.
Bake 18–22 minutes, or until a toothpick inserted in the center comes out clean.
Let muffins cool 5 minutes in the pan, then transfer to a wire rack. Enjoy warm or at room temperature.