Preheat oven to 350°F. Place 8 paper baking cups in a muffin pan and spray with cooking spray.
In a bowl, combine flour, baking powder, baking soda, and salt.
In a bowl using an electric mixer, beat eggs and Splenda Sweetener on high speed for 5 minutes. Add yogurt, oil, vanilla extract, and orange zest; beat on medium speed until blended, about 1 minute.
Add dry ingredients; beat on low speed until blended.
Transfer batter to prepared muffin cups, filling ¾ full.
Bake for 15 minutes or until a wooden pick inserted in center comes out clean. Remove from pans immediately and cool on a wire rack.