Step 1: Preheat your oven to 350°F (175°C).
Step 2: Line a 9x13-inch baking pan with parchment paper.
Step 3: In a large mixing bowl, combine the melted butter, granulated sugar, and brown sugar. Whisk until well combined. Add the egg, yogurt, mashed bananas, and vanilla extract. Mix until smooth and creamy.
Step 4: In a separate bowl, whisk together the pudding mix, cocoa powder, flour, baking soda, and salt. Gradually add to the wet ingredients, stirring until just combined.
Step 5: Pour the batter into the prepared pan and bake for 25-30 minutes.
Step 6: For the glaze, combine melted butter and brown sugar in a saucepan. Stir until bubbling, then remove from heat and add cream and vanilla.
Step 7: Gradually whisk in sifted confectioners sugar until the glaze reaches desired consistency.
Step 8: Drizzle the glaze over the cooled brownies.
Step 9: Slice into squares or rectangles and serve.