Preheat oven to 350 degrees. Grease a 8.5 x 4.5" loaf pan and set aside
In a small bowl, whisk cinnamon filling ingredients. Set aside.
In a large bowl, whisk flour, soda and salt. Set aside. In a medium bowl, whisk sugar, milk, egg, oil. yogurt and vanilla. Pour wet ingredients into dry and stir just until combined.
Pour half of the batter into loaf pan. Save two tablespoons of cinnamon sugar for topping. Sprinkle the remaining cinnamon filling onto batter. Top with remaining batter and sprinkle reserved 2 T on top.
With a butter knife, make a few horizontal and vertical swirls in batter.
Bake bread for 50-60 minutes. Tent with foil after 30 minutes to prevent overbrowning the top. Bread is baked when the internal temperature reaches 200 or a toothpick comes out clean.
Remove bread from oven and cool on wire rack for 1 hour before removing from pan.
When bread is cool, whisk glaze ingredients in a small bowl, and drizzle over cooled loaf. Allow glaze to set and then store bread covered for up to 3 days.