Preheat oven to 350 degrees. Place milk in a pot over medium heat. As soon as milk starts to boil and you see bubbles, remove from heat and add tea bags. Allow to brew for 10 minutes Add all purpose flour, baking soda, baking powder, ground cinnamon, ground ginger, ground cloves, and salt to a bowl. Set aside. In another big bowl, combine milk and tea mixture, white sugar, vanilla flavored yogurt, and vegetable oil. Stir until incorporated. Add dry ingredients and mix until flour disappears.Place in muffin tin and bake for 20-25 minutes, or until toothpick comes out clean. Allow to cool. Frost with icing and dust with cinnamon. To make frosting, add butter, vanilla extract, powdered sugar, and milk to a bowl and mix with mixer until fluffy.