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Preheat oven to 425F and spray a muffin tin with cooking spray.
In a large bowl whisk together flour, baking powder, baking soda, and salt.
Using a hand mixer or a stand mixer affixed with a paddle attachment, cream together the butter, brown sugar, and white sugar. Don't rush this process as you want the sugars and butter to mix well.
Add the eggs one at a time. Make sure the first egg is mixed in before adding the second. Next, add the vanilla, Greek yogurt, lemon zest and milk. Mix until incorporated.
Mix the wet and dry ingredients together. The batter will be thick but it's supposed to be!
Fold in the raspberries and scoop the batter into the prepared muffin tins.
In a small bowl mix together the streusel ingredients. Use your fingers to squeeze the butter into the sugar and flour. Sprinkle on top of each muffin.
Bake muffins for 5 minutes at 425F, and then reduce the heat to 350F and bake for an additional 24-28 minutes. Be sure to poke the muffins with a toothpick prior to removing from the oven. When the tooth pick comes out of the muffin clean they are done!
Allow the muffins to cool for 5 minutes in the pan.