First - gather all of your ingredients.
Set the oven to 350 degrees.
Next, mix all the dry ingredients (the first 7 in the list above) together.
Then, slowly add in the eggs and the soft butter. Mix well.
Then, add in the yogurt, pumpkin, milk and vanilla.
Ensure the mixture is well combined.
Spoon out into muffin liners and bake for 17-20 minutes.
They are done baking when they are lightly golden on top.
Time for the churro top! Melt the butter and mix the cinnamon and sugar together.
Use a small brush and coat the top of the muffin with warm butter.
Then, dip the top into the cinnamon and sugar mixture.
Time to eat up your pumpkin churro muffins.