Place butter and sugars in a large bowl and beat well until smooth and creamy. Beat in yogurt, eggs, and vanilla until smooth.
In a separate medium bowl, combine flour, baking powder, baking soda, cinnamon, nutmeg, cloves, and salt. Fold into butter mixture, interchangeably with milk, until batter is smooth.
Scrape batter over apples into prepared pan and smooth top. Bake cake at 350F 30-35 minutes until a toothpick inserted in cake portion comes out clean and center of cake is firm to the touch.
Allow cake to cool in pan on a wire cooling rack 20 minutes, then carefully run a butter knife around edges and invert onto a serving plate. Allow to cool completely before slicing and serving. Enjoy!