Preheat the oven to 425°F (218°C). Grease a 12-count muffin tin with nonstick spray or line with cupcake liners. Set aside.
In a stand mixer with the paddle attachment, beat the butter on high until creamy, about 1 minute. Add both sugars and continue beating on high for about 2 minutes until light and fluffy. Scrape down the bowl as needed.
Add the eggs, yogurt, and vanilla. Mix on medium speed for 1 minute, then turn to high until smooth and fully combined. Stir in the orange zest.
In a separate large bowl, whisk together the flour, baking soda, baking powder, cinnamon, and salt. Slowly add the wet mixture to the dry ingredients, whisking gently until just combined.
Pour in the orange juice and milk, whisking until the batter is smooth and even. Gently fold in the cranberries with a spatula or spoon so they’re well distributed.
Spoon the batter into the muffin pan, filling each cup to the top. Bake for 5 minutes at 425°F, then reduce the oven to 350°F (177°C) and continue baking 18–20 minutes, or until a toothpick inserted in the center comes out clean.
While muffins bake, make the glaze by whisking together 1 cup confectioners’ sugar and 3 tablespoons orange juice until smooth.
Let muffins cool slightly, then drizzle with glaze. Serve and enjoy!