Preheat the oven to 350°F and be sure the oven rack is in the middle position in the oven. Grease two 8”x4” loaf pans with cooking spray and optionally line with parchment paper, allowing the sides to overhang for easy removal.
In a medium bow, whisk the flour, baking powder, baking soda and salt.
In another medium bowl, whisk the yogurt, milk, lemon zest and lemon juice. Set aside.
In a bowl of an electric mixer fitted with a paddle attachment, beat the melted butter and sugar on medium speed for about 5 minutes.
Scrape down the sides of the bowl and add the eggs one at a time, beating in between each addition.
On a low speed, add ⅓ of the flour and ⅓ of the milk mixture. Continue alternating between the flour and mixture, ending with the flour. Scrape the sides of the bowl, and then give the batter one last mix just until the flour is no longer visible. Be sure not to overmix.
Divide the batter evenly between the two pans. Run a butter knife down the center of the batter in each pan to help the cake rise evenly.
Bake for 48-52 minutes or until the cakes have risen and a toothpick inserted into the center comes out clean.
Allow the cake to cool on a wire rack for 15 minutes. Then, carefully lift the cake out of the pan using the parchment paper overhang. Cool the cake for 30 minutes before icing.
To make the icing, whisk together the confectioners sugar, lemon juice and zest.
Drizzle the glaze over the cooled cakes with a spoon, allowing it to drip down the sides of the cake.
Allow the icing to set on the cake for 30-60 minutes before slicing and serving.