Preheat the oven to 350 degrees Fahrenheit. Spray a cupcake pan with nonstick cooking spray and set aside.
In a large mixing bowl, beat together the sugar, milk, butter, eggs, yogurt and vanilla until combined.
In a separate mixing bowl, combine the flour, lavender, baking soda and salt, then add this mixture to the wet mixture, beating until just combined.
Using a 1/3 cup measure, scoop batter into cupcake pans. Bake in 350 degree oven for 20-25 minutes. Let cool completely before topping with the glaze.
While waiting for the cupcakes to cool, make the glaze. In a medium mixing bowl, beat together all of the glaze ingredients until smooth and no lumps remain.
Once cupcakes are cool, spoon glaze evenly over cupcake tops. Let glaze dry completely before serving.