Preheat oven to 175°C (350°F). Line or grease a standard loaf pan.
In a large bowl, mash bananas until mostly smooth.
Add tahini, maple syrup, oil, plant milk, vinegar, and vanilla. Stir until glossy and well combined.
Sprinkle flour, baking soda, baking powder, salt, and cinnamon over the wet mixture.
Fold gently until just combined. Do not overmix.
Fold in dates or chocolate if using.
Pour batter into the prepared pan and smooth the top. Sprinkle with sesame seeds if desired.
Bake for 50–60 minutes, until a toothpick inserted comes out mostly clean.
Cool completely before slicing for best texture.