Preheat oven to 375°F. Line a baking sheet with parchment paper and set aside.
In a small bowl, whisk together the flour, cream of tartar, baking soda, cinnamon, and salt. Set aside.
In a separate bowl, using a hand mixer or a stand mixer fitted with the paddle attachment, cream the butter with the sugar. Add the yogurt and vanilla and mix. Stir in the dry ingredients until combined.
Make the topping in a small bowl by combining the sugar and cinnamon. Using your hands, break off pieces of cookie dough, roll into a ball, and roll in the cinnamon-sugar topping. Place on baking sheet, 1-2 inches apart, and bake for 8-10 minutes. Allow the cookies to cool on the baking sheet for 10 minutes before transferring to a wire cooling rack. Cool completely before glazing.
To make the glaze, stir the powdered sugar, maple syrup, and milk together until smooth.