Preheat the oven to 425°F (220°C), or 200°C if using a fan oven. Line a muffin tin with paper liners and set aside.
Add the cranberries to the bowl of a large food processor. Pulse to chop the cranberries until they are in smaller pieces, about 4-5 times. Set aside until needed.
In a medium bowl, whisk together the flour, cinnamon, baking powder, baking soda, and salt; set aside.
In a large bowl, add the granulated sugar, butter, and orange zest. Beat with a mixer on medium-high for 2-3 minutes or until light and fluffy. Add the eggs and beat again.
In a separate bowl, whisk together the yogurt, milk, orange juice, and vanilla until smooth.
Add half the flour mixture to the butter mixture and mix. Add the yogurt mixture and mix again. Finally, add remaining flour and mix until just combined.
Fold in the cranberries and divide the batter evenly into the 12 muffin cups. They will be full.
Bake in the preheated oven for 5 minutes, then turn the oven down to 350°F/180°C (160°C for fan oven) and bake an additional 12-15 minutes, or until the muffins are domed and a toothpick inserted into the center comes out clean.
Allow to cool in the tin for 5 minutes before removing to a cooling rack to cool completely.
Whisk together the powdered sugar and orange juice, then drizzle on top of the cooled muffins.