Preheat oven to 350° F. Prepare a 12-count muffin tin by spraying with baking spray.
In a medium-sized bowl, add flour, baking soda, salt, cinnamon, ginger, cardamom, allspice, and black pepper. Set aside.
In a larger mixing bowl, cream together butter and sugar using a hand mixer until light and fluffy. Add eggs, mashed banana and vanilla then mix to combine well.
Slowly add in flour mixture until well blended. Divide batter evenly into the muffin tin. Bake for 20-25 minutes or until toothpick inserted comes out clean.
Make vanilla glaze by whisking confectioners sugar, vanilla and milk until smooth. Add more milk to reach desired consistency if needed.
Once muffins are mostly cooled, dip tops into the vanilla glaze then set on parchment paper or a rack to let glaze set. Feel free to double dip them!