Preheat oven to 350°F. Prepare muffin pans by lining 24 muffin cups with nonstick paper cupcake liners.
In a medium bowl, whisk together flour, pumpkin pie spice, baking powder, baking soda, and salt. In a large bowl, mix together pumpkin puree, maple syrup, coconut oil, eggs, and vanilla. Add half of flour mixture; stir. Add yogurt; stir. Add remaining flour mixture; stir until just blended.
Divide batter between muffin pans by filling each muffin cup approximately ⅔ full with batter. Bake for 15 to 17 minutes or until toothpick inserted in center of muffin comes out clean. Cool in pans for a few minutes before turning out onto wire rack to cool completely.
