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Add olive oil to a pot and place over medium heat. Once oil is hot, add the onion, carrots and garlic; cook for 5 minutes or until onions become translucent. Then stir in the chopped chipotles, cumin, turmeric, cinnamon and a pinch of nutmeg.
Next stir in the sweet potato cubes, fire-roasted tomatoes, black beans, quinoa, vegetable broth and salt. Cover and simmer for 20-30 minutes, or until sweet potatoes are tender. Taste and adjust the seasonings, adding more salt if desired. You can also add more chopped chipotle peppers or adobo sauce if you want it spicier.
Make the smoked chipotle yogurt: add yogurt, adobo sauce, honey, and dijon mustard in a medium bowl; stir to combine. Taste and adjust as necessary. Add more honey if you want it sweeter, or add more adobo sauce if you'd like it spicier!
Spoon chili into bowls and add yogurt sauce on top. Garnish with cheddar cheese, avocado, and cilantro if you'd like!