Preheat the oven to 350 degrees. In a medium bowl, whisk together flour, baking soda, salt, and cinnamon. Set aside.
In the bowl of a stand mixer, combine butter and sugars, mix until smooth. Add peanut butter, honey, vanilla extract, and egg. Combine until smooth. Next, add the banana and mix until combined.
Slowly add in flour mixture until just combined. Stir in the oats.
Drop cookie dough by heaping tablespoonfuls 2 inches apart onto baking sheets that have been lined with parchment paper or Silcone baking mats. Bake at 350 degrees F for 12-15 minutes or until golden. Remove cookies from pans; cool completely on wire racks.
To make the glaze-combine peanut butter, powdered sugar, milk, and honey in a small bowl. Whisk until smooth. If it is too thick or thin, adjust by adding more milk or powdered sugar. Drizzle glaze over cooled cookies.