Preheat oven to 350 degrees. Place muffin cups in muffin tins.
Mix sugar, yogurt and egg until creamy and light yellow. Add vanilla beans and vanilla. Add flour, baking soda, and salt. Add milk and orange juice. Fold in orange zest. Stir until completely smooth. Spoon the batter into the muffin tins. Top with course sugar.
Bake for 18-20 minutes, or until toothpick poked in center of muffin comes out clean. Top with glaze.
Mix all ingredients in a bowl until glaze forms. If needed, add more liquid until the desired consistency is reached. Drizzle over warm muffins.