Heat oven to 350°F. Grease bottom only of 9x5- or 8x4-inch loaf pan with shortening or cooking spray. In large bowl, beat sugar and butter with spoon until light and fluffy. Beat in eggs. Stir in bananas, milk and vanilla until well blended.
In small bowl, mix flour, nuts, baking soda and salt. Add to banana mixture all at once; stir just until dry ingredients are moistened. Pour into pan.
Bake 50 to 60 minutes or until toothpick inserted in center comes out clean. Cool 5 minutes; remove from pan. Cool completely, about 1 hour. Wrap tightly and store in refrigerator.