Step 1

Preheat the oven to 350 degrees. Generously mist a 9-inch round springform pan or 9-inch round or square cake pan with nonstick spray; set aside.**

Step 2

In a medium bowl, whisk together the flour, baking powder, baking soda, cinnamon, and salt; set aside. In a separate bowl, combine the yogurt, eggs, sugar, milk, and vanilla. Add the dry ingredients to the wet ingredients and stir until combined into a thick batter.

Step 3

Pour half the batter into the prepared cake pan. Use a spatula to spread it evenly.

Step 4

To make the cinnamon roll filling, in a small bowl, combine the brown sugar, cinnamon, and melted butter (but not the pecans – you’ll use those soon).

Step 5

Next, spoon a little less than half of the cinnamon roll filling onto the coffee cake batter in the pan, and carefully spread it out evenly over the entire batter surface. Sprinkle the pecans over the filling.

Step 6

Pour the remaining coffee cake batter over the filling layer and pecans. Use a spatula to carefully smooth it out. Don’t worry if the batter doesn’t perfectly cover the filling layer.

Step 7

Finally, pour the remainder of the cinnamon roll filling in a circular swirl pattern over the batter, starting at the center and working outward. You may need to rewhisk it quickly first. Use a butter knife or spatula to help shape and spread the filling in a swirl pattern. This should make the unbaked coffee cake look like one large cinnamon roll. Again, it doesn’t need to be perfect as the batter will bake up around the filling swirl.

Step 8

Place the baking pan in the middle rack in the oven. Bake until a toothpick inserted into the middle comes out clean, about 35 minutes. Remove pan from the oven, let the cake cool slightly before removing from the pan and cutting into 8 slices.

Step 9

To make the glaze, in a small bowl, combine the powdered sugar and milk. Drizzle the glaze over the slightly or fully cooled cake or over individual slices just before serving.***