Make streusel topping: In a small bowl, combine streusel ingredients and pinch together into large crumbs. Place bowl in freezer.
Make muffins: Preheat oven to 375°F. Line cups of a muffin tin with paper liners. In a large bowl, whisk butter, sugar, eggs, vanilla and yogurt. Stir in flour, baking powder, baking soda, cinnamon and salt with a wooden spoon. Fill each muffin cup with batter. Scatter streusel topping over each muffin and press lightly on crumbs so they adhere to batter. Bake until tops are golden, 17 to 20 minutes. Let muffins cool in pan set on a wire rack for 5 minutes, then remove muffins to rack to cool completely.
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