Preheat oven to 350 degrees. Line a 9x9-inch baking pan with parchment paper and grease.
Make streusel. Combine flour, granulated sugar, powdered sugar, cinnamon, and salt in a large bowl. Add butter and vanilla and use a pastry cutter to cut the butter into small pieces. Alternatively, use your hands or two forks. Set aside.
Make cinnamon filling. In a small bowl, combine brown sugar, cinnamon, and cocoa powder. Stir until well combined.
Prepare coffee cake. Add butter and sugar to the bowl of a stand mixer and cream mixture until light and fluffy, about 3 minutes. Add eggs one at a time followed by mashed bananas, yogurt, and vanilla.
Combine flour with baking powder, baking soda, and salt. Add dry ingredients to cake batter, stirring just until combined.
Pour half of the cake batter to the prepared baking dish and spread in an even layer. Sprinkle cinnamon filling on top followed by the remaining cake batter. Sprinkle streusel on top in an even layer. Bake cake for 50 minutes - 1 hour or until a toothpick inserted in the center comes out clean.
Remove from oven and let cool for 30 minutes before slicing and serving.