Begin by preheating your oven to 400°F. Lightly grease a 12-cup muffin tin or line it with muffin liners for easy removal.
In one bowl, combine the flour, baking powder, baking soda, and salt. Whisk these together until evenly mixed.
In another large mixing bowl, beat together the yogurt, eggs, sugar, melted butter, milk, lemon juice, lemon zest, and vanilla extract until smooth and creamy.
Slowly incorporate the dry mixture into the wet ingredients, gently stirring until just combined. Take care not to overmix. Gently fold the poppy seeds into the batter.
Using a ⅓-cup measure, evenly divide the batter into the prepared muffin tin.
Bake in the preheated oven for about 17 to 22 minutes, or until the tops of the muffins are golden and spring back when lightly pressed. Insert a toothpick into the center of one muffin, and if it comes out clean, they’re ready. Allow the muffins to cool in the pan for around 10 minutes, then transfer them to a wire rack to cool completely.
If desired, drizzle the cooled muffins with lemon glaze for an extra burst of flavor. Enjoy!