Preheat oven to 350°F. Grease and line a 9x5-inch loaf pan with parchment paper.
In a large bowl, mash bananas. Add yogurt, sugar, apple butter, oil, sugars, and vanilla. Whisk until smooth.
In a separate bowl, whisk together flour, baking soda, baking powder, cinnamon, ginger, nutmeg, salt, and cloves.
Gently fold dry ingredients into wet until just combined and no more dry flour is visible.
Spray half the batter into the pan, dollop with half the apple butter, swirl lightly with a knife, then repeat with remaining batter and apple butter.
For the streusel topping, combine pecans, flour, brown sugar, cinnamon, salt, and melted butter with a fork until crumbly. Sprinkle over batter.
Bake for 55 to 65 minutes or until a toothpick inserted into the center comes out clean. Tent with foil if the topping browns too quickly.
Cool in the pan for 10 minutes then transfer to a wire rack.
If using glaze, whisk together powdered sugar, maple syrup, milk, cinnamon, and vanilla in a small bowl. Drizzle the glaze over warm bread and slice once the loaf cools slightly.