Prep and Heat: Heat oven to 425°F (218°C). Line a 12-cup muffin pan with liners or grease well. Starting at a higher temperature ensures a tall rise, while dropping it later keeps the center moist.

Dry Ingredients: Whisk 2 cups all-purpose flour (240g), baking powder, baking soda, salt, and poppy seeds in a medium bowl. Note: For the best results, use a kitchen scale to weigh the flour; adding even a few extra tablespoons by "scooping" the flour can lead to a dry muffin.

The Lemon Secret: In a separate large bowl, combine the granulated sugar and lemon zest. Use your fingertips to rub the zest into the sugar for about 30 seconds until the sugar is fragrant and looks like damp sand. This step is essential to lock in the citrus flavor.

Wet Ingredients: Whisk the eggs into the lemon sugar until pale. Whisk in the yogurt, milk, lemon juice, vanilla, oil, and melted butter until smooth.

Combine: Add the dry ingredients to the wet. Use a spatula to fold gently just until no streaks of flour remain. Do not use a whisk here; overworking the batter at this stage leads to a tough, dry crumb.

The Rest: Let the batter rest for 10 minutes at room temperature. This hydrates the flour and leads to a better rise.

Bake: Divide the batter evenly among the muffin cups. Place in the oven and immediately turn the heat down to 350°F (177°C).

Timing: Bake for 15 to 18 minutes. Start checking at the 15-minute mark; they are done when the tops spring back and a toothpick comes out with a few moist crumbs attached. If the toothpick is bone-dry, they are overbaked.

Cool: Cool in the pan for 5 minutes, then move to a rack to cool completely before glazing.

Whisk powdered sugar, lemon juice, lemon zest, and salt until smooth.

Add milk a teaspoon at a time until it reaches a thick, honey-like consistency.

Drizzle over cooled muffins.