Preheat oven to 350°F. Prepare cupcake tins with liners. Set aside.
In the bowl of a stand mixer, combine granulated sugar and vanilla bean seeds until well blended.
Add flour, baking powder, baking soda, and salt to vanilla sugar. Mix until well blended.
Beat in softened butter until mixture resembles fine crumbs.
In a separate bowl, whisk together eggs, yogurt, canola oil, and vanilla. Pour liquid into flour mixture and mix until just incorporated. Pour milk in slowly, mixing until just combined. (The batter will be liquidy. That's how it should be!)
Fill each liner a little over halfway full. Bake for 14 minutes or until a toothpick inserted in the center comes out clean.
Remove from oven. Cool cupcakes on a wire rack.