Preheat oven to 375° F. Line your muffin tin with liners or spray with cooking spray.
In a bowl mix together the dry ingredients: flour, baking powder, baking soda, salt and chai spice.
In another bowl, whisk together the wet ingredients: yogurt, milk, oil, syrup, vanilla and egg.
Add the wet ingredients to the dry ingredients and mix together until combined.
Fill the muffin tin evenly and bake for 10-12 minutes. Insert a toothpick into the center to see if it comes out clean. Let the muffins cool in the pan before moving to a cooling rack.
While the muffins are cooling, prepare the vanilla glaze.
Whisk the powdered sugar, milk and vanilla extract until smooth. Add more milk to thin out the consistency if desired.
Dip the muffins into the glaze and let them sit until the glaze has hardened.