Preheat oven to 425°F (218°C). Spray a 12-count muffin pan with nonstick spray or line with cupcake liners. Set aside.

Make the crumb topping: Mix the brown sugar, granulated sugar, cinnamon, and melted butter together in a small bowl until combined. Add the flour and mix until crumbs form. Place in the refrigerator while you make the muffin batter.

Make the muffins: Whisk the flour, baking soda, baking powder, cinnamon, and salt together in a medium bowl. Set aside.

In a large bowl using a handheld or stand mixer, beat the butter, granulated sugar, and brown sugar together on high speed until smooth and creamy, about 3 minutes. Add the orange zest and beat on medium speed for 1 minute. Add the eggs, yogurt/sour cream, and vanilla, and beat until combined and mostly creamy.

With the mixer on low speed, add the dry ingredients, orange juice, and milk, and beat until no flour pockets remain. Gently fold in the cranberries.

Spoon the batter into prepared muffin cups, filling them all the way to the top. Spoon crumb topping on each, gently pressing it down.

Bake for 5 minutes at 425°F; then, without opening the oven, reduce the oven temperature to 350°F (177°C). Bake for an additional 16–19 minutes or until a toothpick inserted in the center comes out clean.

Allow the muffins to cool for 5 minutes in the muffin pan, then transfer to a wire rack to continue cooling. Let them cool for at least 15 minutes before icing.

Make the icing: Whisk the confectioners’ sugar and orange juice together and drizzle over warm or cooled muffins.