Preheat oven to 350 degrees F. Prepare muffin tin with 12 cupcake liners. Set aside.
In a small bowl, whisk together flour, baking powder, and salt. In another bowl, mix together milk, yogurt, and vanilla. Set both bowls aside.
In the bowl of a stand mixer with a paddle attachment, cream together butter and sugars. Add eggs one a time, making sure first egg is incorporated before adding second egg.
Scrape down bowl. Add half of dry mixture. Continue to mix and stream in half of wet mixture. Add remaining dry mixture, followed by remaining wet mixture. Mix until there are no more streaks of dry mixture.
Divide batter evenly between prepared muffin tin (about 1/4-1/3 cup of batter per muffin). Bake for 18-20 minutes until toothpick inserted in center of cake comes out clean, or until cake lightly springs back when touched. Rotate pan halfway through baking. Let cupcakes cool in tin for 5 minutes before transferring to wire racks to cool to room temperature.