Preheat oven to 325 degrees. Coat two 9x5-inch loaf pans with cooking spray.
In a large bowl, mix flour, sugar, cinnamon, baking powder, baking soda, salt and pudding mix; set aside.
In a medium bowl, whisk milk, oil, eggs, and vanilla. Stir liquid mixture into flour mixture and combine well. Evenly divide mixture into the two loaf pans.
Bake 55 to 60 minutes, or until a toothpick inserted in center comes out dry. Let cool 15 minutes, then invert and finish cooling on a wire rack.