Preheat oven to 350 degrees. Generously spray a Bundt pan or 9 X 13 baking dish with baking spray, set aside.
Mix the cinnamon-pecan crumble together in a medium sized bowl, set aside.
In a large bowl, beat the butter until smooth and creamy. Add the yogurt and sugar, beat until thoroughly incorporated. Mix in the eggs and vanilla.
Add the flour, baking powder, baking soda, and salt. Beat just enough to combine.
Spread half of cinnamon-pecan crumble evenly over the bottom of the pan.
Add half of the cake batter to the pan in large spoonfuls. Carefully spread out the batter in an even layer trying to not disturb the crumble mixture.
Sprinkle remaining crumble over the batter, and top with remaining cake batter. Smooth the top and bake for 45 to 50 minutes until golden and bamboo skewer comes out clean when inserted into the center of the cake. {Bake 9 X 13 for 35 to 40 minutes}
Allow cake to cool for ten minutes in the pan, then flip out onto a wire rack to cool.
Mix the powdered sugar, vanilla, and milk together in a small bowl. Drizzle over cooled cake and allow to set before serving.
Notes
You can substitute sour cream for the Greek yogurt if you prefer.
I wanted the cinnamon-crumble to be the top layer just in case I decided against the glaze. Reverse the order for a smooth top cake {batter, crumble, batter, crumble}