Preheat oven to 350°F. Combine flour, baking soda, and salt in a large bowl, and whisk together. Set aside.
In a separate bowl, beat sugar and butter with an electric mixer on medium speed until well blended. Add eggs one at a time, and continue to beat into the mixture until combined.
Add bananas, yogurt, milk, and vanilla and beat until blended. Then add flour mixture to wet mixture and beat at low speed just until combined. Stir in the chocolate chips.
Pour batter into loaf pan coated with cooking spray. Bake for 1 hour, or until a toothpick inserted in the center comes out clean. Cool 10 minutes in the pan on a wire rack, then remove loaf to rack to cool completely.