Preheat your oven to 350℉.
Make the batter. In a large bowl whisk together the wet ingredients (eggs, unsalted melted butter, whole milk, Greek yogurt, vanilla, granulated sugar, and dark brown sugar). On top of the wet ingredients add the dry (AP flour, baking powder, baking soda, salt, and all the spices) and whisk to combine.
Make the crumb topping. In a small bowl, combine the flour, brown sugar, cinnamon, butter and salt. Pinch the ingredients together with your fingers until everything is moistened by the butter and able to stick together.
Assemble & Bake. Pour the batter into the cups of a prepared muffin tin, leaving just a hint of space at the top. Sprinkle the crumb topping over top of the batter. Bake at 350°F for 12-15 minutes until a cake tester comes out clean.
Make the glaze. In a small bowl, mix together the powdered sugar, vanilla, whole milk, and salt until you get a smooth consistency. Drizzle over the freshly baked muffins.