diff --git a/spring-beans/src/main/java/org/springframework/beans/factory/config/YamlProcessor.java b/spring-beans/src/main/java/org/springframework/beans/factory/config/YamlProcessor.java
index 96ce40db01a1..47300fc5f7b0 100644
--- a/spring-beans/src/main/java/org/springframework/beans/factory/config/YamlProcessor.java
+++ b/spring-beans/src/main/java/org/springframework/beans/factory/config/YamlProcessor.java
@@ -247,7 +247,8 @@ private Map<String, Object> asMap(Object object) {
 				value = asMap(value);
 			}
 			if (key instanceof CharSequence) {
-				result.put(key.toString(), value);
+				String keyString = key.toString();
+				result.put((keyString.startsWith("[") ? "[" + keyString + "]" : keyString), value);
 			}
 			else {
 				// It has to be a map key in this case
diff --git a/spring-beans/src/test/java/org/springframework/beans/factory/config/YamlPropertiesFactoryBeanTests.java b/spring-beans/src/test/java/org/springframework/beans/factory/config/YamlPropertiesFactoryBeanTests.java
index b8874a13766e..35cff117659f 100644
--- a/spring-beans/src/test/java/org/springframework/beans/factory/config/YamlPropertiesFactoryBeanTests.java
+++ b/spring-beans/src/test/java/org/springframework/beans/factory/config/YamlPropertiesFactoryBeanTests.java
@@ -226,6 +226,21 @@ void loadArrayOfObject() {
 		assertThat(properties.get("foo")).isNull();
 	}
 
+	@Test
+	void loadNestedMapWithBracketedKey() {
+		YamlPropertiesFactoryBean factory = new YamlPropertiesFactoryBean();
+		factory.setResources(new ByteArrayResource("""
+				root:
+				  webservices:
+				    "[domain.test:8080]":
+				      - username: me
+				        password: mypassword
+				""".getBytes()));
+		Properties properties = factory.getObject();
+		assertThat(properties.getProperty("root.webservices[[domain.test:8080]][0].username")).isEqualTo("me");
+		assertThat(properties.getProperty("root.webservices[[domain.test:8080]][0].password")).isEqualTo("mypassword");
+	}
+
 	@Test
 	@SuppressWarnings("unchecked")
 	void yaml() {