Preheat oven to 350F. Grease and lightly flour a 9-in tube pan. Set aside.
In a medium bowl, combine flour, baking soda, baking powder, salt, and spices. In a separate large bowl, beat oil, sugar, molasses, eggs, yogurt, milk, and vanilla until smooth. Gently fold flour mixture into liquid until just combined.
Pour batter into prepared pan and smooth top. Bake bundt cake at 350F 55-60 minutes or until a skewer inserted in middle comes out clean. Cool cake on a wire cooling rack.
Make the glaze: In a medium bowl whisk powdered sugar, orange zest, and just enough milk to achieve a drizzling consistency.
Remove cooled cake from pan and place on a serving plate, Drizzle with glaze. Let stand 5 minutes then serve.