In a large bowl, whisk together the dry ingredients. Add the butter and cut in using a pastry cutter or your hands. Refrigerate while you prepare the wet ingredients.
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Whisk together the greek yogurt, egg, lemon juice, lemon zest, and vanilla extract until combined. Stir the wet mixture into the flour and butter mixture until a dough forms.
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Turn the dough out onto a lightly floured surface. Shape into a flat 7-inch circle. Cut into 8 even wedges.
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Transfer the wedges to a parchment lined baking sheet, spacing them at least 1-inch apart. Refrigerate for 20 minutes. Meanwhile, preheat the oven to 400°F.
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Lightly brush the tops of the scones with milk. Bake for 18-20 minutes, until the tops are light golden brown. Transfer to a wire rack to cool.
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In a small bowl, whisk together the glaze ingredients. Drizzle over warm scones. Serve and enjoy!