Preheat the oven to 375° F and spray a large 6-cup muffin tin with non-stick baking spray.
Using a stand mixer or hand mixer, cream the softened butter and granulated sugar together until smooth and well combined. Then add in the maple syrup, eggs, milk, yogurt and vanilla and mix again.
Remove the bowl from the stand mixer and using a rubber spatula, fold in the flour, baking soda, baking powder, cinnamon and salt. Mixture may seem thin, that's okay. Fold until incorporated.
Spoon the batter into the muffin tins and bake for 18-20 minutes or until you insert a toothpick and it comes out clean. While the muffins bake, combine the cinnamon and sugar together in a small dish. Melt the butter separately in the microwave in a microwave safe dish for 10-15 seconds or until melted.
When the muffins are done, remove from oven and brush the butter on the muffin tops. Lastly, sprinkle with a pinch of cinnamon & sugar on top.