Make the streusel first. Combine the flour, turbinado sugar, and lemon zest in a small bowl. Add the cold cubed butter and work with your fingertips until the mixture looks like coarse, shaggy crumbs with pea-sized clusters. Refrigerate while you make the batter.
Preheat oven to 400°F. Verify with an oven thermometer. If using a dark non-stick pan, use 375°F. Line a 6-cup jumbo muffin tin with tulip parchment liners or grease well.
Zest lemons directly into a bowl with the granulated sugar. Rub zest into sugar with fingertips for 1–2 minutes until pale yellow and fragrant.
In a large bowl, whisk together flour, lemon sugar, baking powder, baking soda, salt, and poppy seeds. Make a well in the center.
In a separate bowl, whisk together eggs, sour cream, milk, oil, lemon zest, lemon juice, and vanilla until smooth.
Pour wet ingredients into the well of the dry ingredients. Fold with a rubber spatula just until no dry streaks remain. Do not overmix — lumpy batter is correct. Let the batter rest for 5 minutes.
Divide batter evenly between the 6 cups, filling each exactly ¾ full. Remove streusel from the fridge and scatter generously over each muffin top, pressing very lightly to adhere.
Bake at 400°F for 7 minutes. Do not open the oven door.
Without opening the oven, reduce temperature to 350°F and bake for 17–19 more minutes, until tops are golden, streusel is golden brown, and a toothpick comes out clean.
Cool in pan for 5 minutes, then transfer to a wire rack for at least 20 minutes before glazing.
Whisk powdered sugar and lemon juice until smooth and pourable. Drizzle over each muffin dome, letting it cascade through the streusel and down the sides. Top immediately with fresh lemon zest or a pinch of poppy seeds. Allow glaze to set for 10 minutes.