Preheat your oven to 350°F (175°C). Grease or line a muffin tin with paper liners.
If you prefer a smoother texture, blend half of the corn kernels lightly in a blender or food processor. Leave the rest whole for texture.
In a large mixing bowl, whisk together the flour, baking powder, baking soda, and salt.
In another bowl, mix the yogurt, milk, eggs, sugar, vanilla, and melted butter until well combined. Add vanilla extract if desired.
Add the wet ingredients to the dry ingredients, stirring just until combined. Avoid overmixing to prevent the muffins from becoming tough.
Gently fold the whole and blended corn kernels into the batter.
Spoon the batter into the prepared muffin tin, filling each cup about ¾ full.
Bake in the preheated oven for 20-25 minutes, or until the tops are golden and a toothpick inserted into the center of a muffin comes out clean.
Allow the muffins to cool in the pan for a few minutes before transferring them to a wire rack to cool completely.
Serve the Panquecitos de Elote warm or at room temperature.