PREHEAT oven to 350° F. Spray 2 baking sheets with cooking spray.
COMBINE flour, baking soda and salt in small bowl; set aside. Combine butter, Nesquik and sugar in medium bowl until mixture resembles coarse sand. Stir in yogurt and vanilla extract. Stir in flour mixture until combined. Drop by rounded teaspoon onto prepared baking sheets.
BAKE for 8 to 10 minutes or until edges appear done and middles are almost set. Cool on baking sheets for 2 to 3 minutes; remove to wire racks to cool completely. Drizzle or spread with Cinnamon Vanilla Glaze.
FOR CINNAMON VANILLA GLAZE:
COMBINE 1 cup powdered sugar, 4 teaspoons milk and 1/2 teaspoon vanilla extract and 1/4 teaspoon ground cinnamon in small bowl; mix well.