Preheat oven to 350 degrees F. Line muffin pans with 16 muffin liners or spray well with nonstick spray.
In a medium mixing whisk together the flour, baking powder, and baking soda. Set aside.
In a large mixing bowl with an electric mixer or in the bowl of stand mixer, cream together the butter, oil, and sugars. Be sure to scrape down the sides of the bowl.
Add in the large eggs, yogurt, and extracts. Beat together and then slowly add in the milk.
Add the flour mixture to the butter mixture and mix just until combined. It's ok if the batter seems lumpy. Fold in sprinkles.
Divide the batter into prepared muffin tins. Top with more sprinkles (optional), and bake for 15-17 minutes or until a toothpick inserted comes out clean. Wait a few minutes then transfer to a cooling rack to cool.
In the meantime make the glaze by adding powdered sugar, milk, and vanilla to a small bowl and whisk together until smooth.
Once the muffins are cooled, drizzle the tops of the muffins with glaze. Let set for a few minutes and enjoy!