Preheat the oven to 400°F and lightly oil or spray a 12-cup muffin tin or line it with muffin liners.

In a medium bowl, whisk together the flour, baking powder, baking soda, and salt.

In a large bowl, whisk together the yogurt, eggs, sugar, melted butter, milk, lemon juice and zest, and vanilla.

Add the dry ingredients to the wet ingredients and stir just until combined. Do not overmix. Fold in the poppy seeds. Use a 1/3-cup measuring cup to scoop the batter into the muffin cups.

Bake for 17 to 22 minutes, or until the tops spring back to the touch and a toothpick inserted in the center comes out clean. Let cool in the pan for 10 minutes, then transfer to a wire rack to cool completely.

Drizzle the cooled muffins with the lemon glaze, if using.