1. Preheat oven to 425 degrees.
2. Line a twelve cup muffin pan with muffin liners or spray well with non-stick baking spray.
3. In a medium bowl, sift together flour, baking powder, baking soda, cinnamon and salt. Set aside.
4. In a small bowl, whisk together the milk, yogurt, maple syrup, eggs, vanilla and mashed banana.
5. Stir to combine well.
6. Add the wet mixture to the dry mixture and gently stir until a few streaks of flour remain.
7. Add oats, grated carrots, and chopped walnuts. Stir until just combined.
8. Do not over mix.
9. Using a measuring cup or cookie dough scoop, divide the batter evenly between the 12 muffin cups.
10. Bake at 425 degrees for 5 minutes, then reduce temperature to 350 degrees and bake for 10-12 additional minutes.
11. Muffins are done when the tops are golden brown and a toothpick inserted into the center comes out clean.
12. Remove the pan from the oven and cool muffins completely before adding glaze.

For Cream Cheese Glaze

1. Add all ingredients to a medium bowl and use a hand held mixer on low speed to combine. Once combined, increase speed to high and mix until glaze is thick but pourable. Add more milk if needed.
2. Spoon the glaze over the tops of the muffins and top with chopped walnuts if desired.