Make the bread: Preheat oven to 350F. Line a 9x5 loaf pan with parchment paper, letting it hang over the sides. Set aside.
In a large bowl, whisk pumpkin, yogurt, eggs, sugar, oil, and vanilla until smooth. Whisk in flour, baking soda, baking powder, salt, and pumpkin pie spice until batter is smooth. Scrape batter into prepared pan and gently smooth top.
Make the streusel: In a small bowl, combine all streusel ingredients until crumbly. Evenly sprinkle over bread batter and gently press to adhere crumbs.
Bake bread at 350F 50-55 minutes or until a toothpick inserted in middle comes out clean. Cool bread completely, then remove from pan to a cooling rack.
Make the glaze: In a small bowl, whisk glaze ingredients until smooth. Drizzle glaze over cooled bread and let set 10 minutes. Slice bread and enjoy!