Preheat your oven to 425°F (218°C). Grease a standard 12-cup muffin pan with nonstick spray or line each cavity with cupcake liners. Set aside for later.
In a large mixing bowl, combine the flour, baking soda, baking powder, salt, and poppy seeds. Whisk thoroughly to evenly distribute the leavening agents and seeds. Set this dry mixture aside.
Using a handheld or stand mixer with the paddle attachment, beat the softened butter, granulated sugar, and brown sugar together on high speed for about 2 minutes until the mixture turns creamy and smooth. Stop occasionally to scrape down the bowl’s sides and base to ensure even blending.
Add the eggs, one at a time, followed by the sour cream, lemon zest, lemon juice, and vanilla extract. Beat the mixture on medium speed until incorporated approximately 1 minute. Increase to high speed and mix until well-blended. The batter might appear slightly curdled; don’t worry this is normal.
Lower the mixer speed and gradually add the prepared dry ingredients while pouring in the milk. Beat until all the flour has been absorbed and the batter appears smooth, avoiding overmixing.
Divide the batter evenly between the 12 muffin cups, filling each about 3/4 full. Place the pan in the oven and bake for 5 minutes at 425°F (218°C). Without opening the oven door, lower the temperature to 350°F (177°C) and continue baking for 15–17 minutes. Check doneness by inserting a toothpick into the center of a muffin; it should come out clean.
Once baked, remove the muffins from the oven and allow them to cool in the pan for 5 minutes. Carefully transfer them to a wire rack to cool completely.
Prepare the Icing: In a small bowl, whisk together the sifted confectioners’ sugar, lemon juice, and milk until smooth. Adjust the consistency with additional sugar or milk if needed. Drizzle the icing generously over warm or cooled muffins.
Store leftover muffins in an airtight container at room temperature for up to 3 days or in the refrigerator for up to 1 week.
Enjoy these bright, tangy lemon poppy seed muffins with their delicate crumb and refreshing citrus glaze!