Beat together the eggs, milk, vanilla extract and cinnamon in a shallow dish until well blended. Place the brioche slices in the egg mixture and leave to soak for 2 minutes.
Mash together the banana and maple syrup in a separate bowl. Carefully remove the slices of brioche from the egg mixture and place on a board. Divide the banana mixture between the slices and spread to within the edges. Roll up and secure each with a cocktail stick.
Heat the butter in a frying pan. Using a fish slice, carefully place each roll in the pan and cook for 4–5 minutes until golden, turning halfway through cooking. Serve hot with spoonfuls of vanilla yogurt and drizzled with maple syrup.