Preheat the oven to 350 degrees F. Line a muffin tin with liners.
In a bowl, whisk together the flour, baking powder, cinnamon and baking soda.
In a larger bowl, whisk together the sugar and the eggs until combined. Whisk in the milk and vegetable oil. Whisk in the vanilla extract.
Add the dry ingredients to the wet, mixing until just combined. Stir in the orange zest. Fill the muffin liners about ⅔ of the way full. Sprinkle the crumb on top of the batter, pressing gently so it sticks to the batter.
Bake the muffins for 18 to 20 minutes, or until the center is set and the crumb is golden. Remove the muffins and drizzle with the orange glaze. Serve!