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Preheat the oven to 375°F. Line a 12-cup muffin tin with paper liners or spray lightly with cooking spray.
In a large bowl, add the sugar and lemon zest. Using clean hands, work the lemon zest into the sugar until it is well incorporated. Add the eggs and whisk together until it’s light and foamy, about 1 minute.
Add the oil, yogurt, lemon juice, vanilla, and salt. Whisk until very smooth.
Sprinkle the flour, baking powder, and baking soda over the wet ingredients. Stir gently with a spatula until just combined, being careful not to overmix. It’s okay if there are a few lumps.
Divide the batter evenly among the 12 muffin cups, filling each about ¾ full. Bake for 18-22 minutes, or until puffed and golden, and a tester comes out clean or with a few moist crumbs, being careful not to over-bake.
Cool in the pan for 5 minutes, then transfer to a wire rack to cool completely.
While the muffins cool, whisk together the powdered sugar and lemon juice until smooth. Once the muffins are completely cool, drizzle the glaze over top and serve or store.