Preheat oven to 375ºF. Grease a standard 12-cup muffin tin with non-stick cooking spray.
Brown the butter: Warm a small, light-colored skillet on the stove over medium-low heat. Add the cut up butter and whisk occasionally as it melts and starts to foam up. Once bubbling or foaming, whisk fairly constantly as the butter turns a rich hazel color. Once it gets to this point, remove from heat immediatley and transfer to a cold surface. Continue to whisk briefly, and then allow to cool for a few minutes.
In a large bowl, whisk together the flour, baking power, baking soda, salt, and cinnamon.
In the bowl of a stand mixer, cream together the cooled butter and brown sugar. Beat in the eggs one at a time. Beat in the yogurt and vanilla extract until smooth.
Add the dry ingredients to the wet and mix in on lowest speed until JUST combined. Add the pecans and fold in with a spatula just until combined. Divide batter evenly between the prepared muffin cups.
Combine the ingredients for the crumb topping in a bowl and cut together with a pastry cutter until the mixture is coarse and no large chunks of butter remain. Sprinkle crumbles over the top of the muffins.
Bake muffins in the preheated oven for 15-20 minutes, just until a toothpick inserted into the center of one comes out clean. Cool briefly, and then transfer to a wire rack to cool completely. Store in an airtight container.