Make the cake: Preheat oven 350F. Lightly grease and flour a 12-in bundt cake pan. Set aside.
In a large bowl, beat sugar, agave, coconut oil, eggs, yogurt, coffee, and vanilla until smooth. Gradually beat in flour, cocoa, baking soda, and salt until batter is smooth. Scrape batter into prepared pan.
Bake cake at 350F 40-45 minutes until a toothpick comes out with moist crumbs sticking to it. Cool cake completely in pan, then invert onto a serving plate.
Make the glaze: In a small bowl, whisk all glaze ingredients until smooth, adding more milk if needed to make a drizzling consistency.
Drizzle glaze over cooled cake, slice and serve. Enjoy!