Preheat your oven to 350°F (175°C). Grease the mini muffin tin or line with mini muffin liners.
In a large mixing bowl, whisk together the flour, sugar, baking powder, baking soda, salt, cinnamon, ginger, cardamom, and cloves until well combined.
In a separate bowl, mix the yogurt, vegetable oil, egg, vanilla extract, and cooled chai tea until smooth.
Pour the wet ingredients into the dry ingredients and gently fold together with a rubber spatula until just combined. Be careful not to overmix.
Divide the muffin batter evenly among the mini muffin cups, filling each about ⅔ full.
Bake in the preheated oven for 10-12 minutes, or until a toothpick inserted into the center comes out clean. Allow the muffins to cool in the tin for 5 minutes, then transfer to a cooling rack.
While the muffins cool, prepare the vanilla bean glaze. In a small saucepan, combine the powdered sugar, milk, and vanilla bean paste. Stir over low heat until smooth and heated through.
Once the muffins are completely cool, drizzle the vanilla bean glaze over the top of each muffin. Allow the glaze to set for a few minutes before serving.