Prepare the Oven and Pan: Preheat the oven to 170°C/325°F/Gas 3, line a 12-cup muffin tin with muffin cases, and set the prepared pan aside.
Combine the Dry Ingredients: Whisk the cake flour, baking powder, baking soda, and salt together in a bowl until evenly combined, then set aside.
Mix the Eggs and Sugar: Whisk the eggs in a separate bowl, add the caster/granulated sugar, and continue whisking until the mixture is combined.
Add the Wet Ingredients: Whisk the melted butter, vanilla extract, Greek-style yogurt, and mashed bananas into the egg mixture until everything is thoroughly combined.
Form the Batter: Add the dry ingredients to the wet mixture and gently fold them in until incorporated, taking care not to overwork the batter.
Fill the Cases: Divide the batter evenly among the prepared muffin cases, filling each case only about two-thirds full.
Bake the Cupcakes: Bake for 15–20 minutes, or until a toothpick inserted into the centre of a cupcake comes out clean.
Cool the Cupcakes: Leave the cupcakes in the muffin tin for 5 minutes, then transfer them to a wire rack and allow them to cool completely before filling and frosting.
Core and Fill: Use a cupcake corer or knife to remove the centre of each cooled cupcake, then fill the cavities with homemade banana caramel sauce.
Beat the Butter: Place the softened butter in a handheld or stand mixer fitted with the paddle attachment and beat on high speed until it becomes pale and creamy.
Add Half the Sugar: Add half of the icing/powdered sugar and begin mixing on low speed, gradually increasing to high, until the frosting becomes light and smooth.
Finish the Frosting Base: Add the remaining icing/powdered sugar and mix, beginning on low speed, until the sugar is smoothly incorporated.
Add Caramel and Milk: Add the homemade banana caramel sauce and milk, then beat on high speed until the frosting is light and fluffy.
Pipe the Frosting: Transfer the finished frosting to a piping bag and pipe it onto the completely cooled, caramel-filled cupcakes.
Garnish and Drizzle: Finish the cupcakes with banana slices and drizzle additional homemade banana caramel sauce over the frosting.