Preheat oven to 325°F and line a large baking sheet with parchment paper. Remove cream cheese from fridge to bring to room temperature.
To a medium mixing bowl, add flour, baking soda, baking powder and salt and whisk to combine well.
In a large mixing bowl, whisk cooled melted butter and coconut sugar together briskly for 30-60 seconds, until the mixture is well combined. Whisk in milk and vanilla.
Pour the dry ingredients into the bowl with the wet ingredients. Using a rubber spatula, mix until just combined, being careful not to overmix.
Use a small ice cream scoop or spoon to portion the dough onto prepared baking sheet, spacing each cookie about 2” apart. The cookies will hold their rounded shape and bake up soft and cakey.
Bake in preheated oven for 9-10 minutes, until cookies are starting to set. They may look undercooked, but they will continue cooking as they cool.
While cookies are baking, make your icing! Add softened cream cheese, Greek yogurt, maple syrup and vanilla to a bowl. It’s best to use a hand mixer on medium speed for five minutes, until smooth and fluffy. Use a rubber spatula to scrape down the sides as needed. If you do not have a hand mixer, use a whisk and whisk vigorously until smooth and fluffy. Set aside.
When cookies are done, remove from oven and let cool for 10 minutes. Once completely cooled, ice your cookies with prepared icing. Option to add dye-free sprinkles and enjoy!