Prep the pan: Preheat your oven to 350°F (175°C). Line a 12-cup muffin tin with paper liners or lightly grease each cup.
Mix dry ingredients: In a medium bowl, whisk together flour, baking powder, baking soda, and salt until evenly combined.
Whisk wet ingredients: In a large bowl, whisk eggs and the sugar-free sweetener until slightly frothy. Add Greek yogurt, oil, milk, lemon zest, lemon juice, and vanilla.
Whisk until smooth.
Combine gently: Add the dry mixture to the wet mixture. Stir with a spatula just until no streaks of flour remain. If using poppy seeds, fold them in now. Do not overmix to keep the muffins tender.
Fill the cups: Divide the batter evenly among the 12 muffin wells.
They should be about 3/4 full.
Bake: Place in the center of the oven and bake for 16–20 minutes. Muffins are done when the tops spring back to the touch and a toothpick comes out clean or with a few moist crumbs.
Cool: Let muffins cool in the pan for 5 minutes, then transfer to a wire rack to cool completely.
Optional glaze: For a brighter finish, whisk the powdered sugar-free sweetener with lemon juice to form a pourable glaze. Drizzle over cooled muffins.
Let set for 10–15 minutes.