Preheat the oven to 375 degrees. Coat a muffin tin with cooking spray.
Prepare the muffins by combining the flour, sugar, baking powder, baking soda, and salt in a bowl.
Whisk together the lemon yogurt, lemon juice & zest, melted butter, egg, milk, and vanilla until well combined.
Add the flour mixture to the yogurt mixture and stir until just combined.
Pour the batter evenly into the muffin tins.
Bake the muffins by placing them in the oven and bake for 25 minutes, or until a tester inserted into the center of a muffin comes out clean.
Remove from the oven and let them sit for 5 minutes before moving them to a wire cooling rack.
Prepare the glaze by adding the lemon juice to the powdered sugar and mixing until well combined.
Once the muffins are cool, place a piece of wax paper under the wire cooling rack with the muffins (for easier cleanup), then drizzle the glaze over each muffin.