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.
Fill muffin tins with paper cups. Scoop muffin mixture ⅔ full in each cup.
Bake at 400 degrees Fahrenheit for 15 to 18 minutes or until the muffin springs back when touched.
While muffins bake, prepare glaze by combining the powdered sugar, orange juice, and zest.
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.