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Preheat oven to 350°F. Lightly coat an 8-inch-square baking dish with cooking spray. Whisk milk, egg, maple syrup, vanilla, cinnamon, baking powder, ginger, salt and nutmeg together in the prepared dish until combined.
Sprinkle oats, raisins, carrots, coconut and pecans evenly over the milk mixture. Stir until well coated.
Bake until the oatmeal is just set in the center and the top is golden brown, 45 to 50 minutes.
Transfer to a wire rack to cool for 5 minutes before serving. Dollop each serving with about 1 tablespoon yogurt.