Preheat oven to 350 degrees F. Lightly coat a 12-cup bundt pan with nonstick spray.

In a large bowl, combine flour, cinnamon, baking soda and salt.

In the bowl of an electric mixer fitted with the paddle attachment, beat butter and sugar on medium-high until light and fluffy, about 2-3 minutes. Beat in eggs, one at a time, until well combined. Beat in pumpkin, yogurt and vanilla until well combined. Gradually add flour mixture, one cup at a time, to the sugar mixture at low speed, beating just until incorporated.

Scoop the batter evenly into the bundt pan. Place into oven and bake for 55-60 minutes, or until a tester inserted in the center comes out clean.

Remove from oven and let cool for 15 minutes before inverting the cake onto a wire rack.

To make the glaze, combine confectioners’ sugar, milk, vanilla, pumpkin, cinnamon and butter. Whisk until smooth. If the glaze is too thin, add more confectioners’ sugar as needed. Drizzle the glaze evenly over the top of the cake, allowing to drip down the sides.

Allow glaze to set before serving.