Prepare the Oven, Pan, and Streusel. Preheat the oven to 350°F and line a standard 12-cup muffin pan with paper liners. In a medium bowl, combine ¾ cup flour, ½ cup dark brown sugar, 2 teaspoons cinnamon, and ¼ teaspoon salt. Work in 6 tablespoons softened butter with a fork until large, moist crumbs form. Set aside.
Mix the Batter. In a medium bowl, whisk together 2 cups flour, 2 teaspoons baking powder, ½ teaspoon baking soda, ½ teaspoon salt, and 1 teaspoon cinnamon. In a separate large bowl, beat ½ cup softened butter, ¾ cup granulated sugar, and ¼ cup light brown sugar for 2 to 3 minutes until light and fluffy. Beat in 2 eggs one at a time, followed by 2 teaspoons vanilla.
Add the Dry Ingredients and Buttermilk. Stir in half of the dry ingredients, then ½ cup buttermilk, then the remaining dry ingredients, mixing just until combined. Do not overmix.
Fill and Top the Muffins. Divide the batter among the muffin cups, filling each about ¾ full. Generously sprinkle the streusel over each muffin and press lightly so the crumbs stick.
Bake and Cool. Bake for 22 to 26 minutes, until a toothpick comes out clean or with a few moist crumbs. Cool in the pan for 5 minutes, then transfer to a wire rack to cool completely, at least 15 to 20 minutes.
Glaze. Whisk ¾ cup powdered sugar, 1 to 2 tablespoons milk, and ½ teaspoon vanilla until smooth. Drizzle over the cooled muffins.