Preheat oven to 425F. Lightly grease a 12-cup muffin tin. Set aside.
Make the muffins: In a large bowl, beat sugar, molasses, oil, eggs, yogurt, milk, vanilla, and orange zest until smooth. In a separate bowl, combine flour, baking powder, salt, and spices. Fold flour mixture into liquid until batter is just combined.
Fill prepared muffin tin 3/4 full of batter. Bake muffins at 425F 5 minutes, then reduce heat to 375F and continue baking 13-15 additional minutes until muffins spring back when lightly touched. Cool muffins in pan 10 minutes, then remove to a wire cooling rack.
Make the glaze: In a small saucepan, bring glaze ingredients to a boil until sugar is dissolved. Generously brush warm glaze over muffins. Serve immediately and enjoy!