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Combine flour, baking powder, and salt in a bowl.
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In a separate bowl, combine the yogurt, sugar, eggs, orange zest and juice, orange extract, and oil. Whisk until smooth. Mix in the flour mixture. Fold in the cranberries.
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Fill muffin tins with paper cups. Scoop muffin mixture ⅔ full in each cup.
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Bake at 400 degrees Fahrenheit for 15 to 18 minutes or until the muffin springs back when touched.
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While muffins bake, prepare glaze by combining the powdered sugar, orange juice, and zest.
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Allow muffins to cool just slightly, then dip them immediately upside-down into the glaze, scrape off any excess, and allow glaze to set. Store in an airtight container.