Heat oven to 350°. You'll need a 10" bundt pan coated with nonstick spray and flour.
CAKE: Whisk yogurt, lemon zest, juice and vanilla in small bowl. Beat butter, sugar, baking powder and soda in a large bowl with mixer on medium speed 3 minutes or until creamy. in eggs, one at a time, until blended. On low speed, beat in yogurt, then flour just until blended. Spread into prepared pan. Bake 50 minutes or until wooden pick inserted in cake comes out clean. Cool in pan on wire rack 12 minutes before inverting on rack.
SYRUP: While cake is cooling, bring syrup ingredients to a boil in a small saucepan. Reduce heat to medium; simmer, uncovered, 12 minutes or until syrupy. Brush over warm cake; let cool.
GLAZE: Mix confectioners' sugar and just enough milk until smooth; spoon over cooled cake. Let stand until glaze sets