Preheat oven to 350°.
Place sugar and butter in a large bowl; beat with a mixer at medium speed until well blended, about 5 minutes.
Add eggs, 1 at a time, beating well after each addition.
Lightly spoon flour into dry measuring cups; level with a knife. Sift together flour, baking soda, salt, ground cinnamon, ground nutmeg, and ground cloves.
Add flour mixture and yogurt alternately to sugar mixture, beginning and ending with flour mixture.
Fold in bananas and vanilla. Pour batter into an 4x8-inch loaf pan coated with cooking spray. Bake at 350° for 1 hour or until a wooden pick inserted in center comes out clean.
Cool 10 minutes in pan on a wire rack; remove from pan. Cool completely on wire rack.