Heat oven to 350°F. Place paper baking cup in each of 12 regular-size muffin cups.
In small bowl, mix flour, baking powder, salt and cocoa; set aside. In medium microwavable bowl, microwave chocolate chips and oil uncovered on High 1 minute, stirring every 30 seconds, until melted and smooth. Stir in condensed milk and egg product. Add half of flour mixture at a time, stirring until incorporated. Divide batter evenly among muffin cups.
Bake 20 to 25 minutes or until toothpick inserted in center comes out clean. Remove from pan to cooling rack; cool 10 minutes.
Meanwhile, in small microwavable bowl, microwave caramel topping uncovered on High 30 seconds. Add yogurt, stirring well. Top each cupcake with 1 tablespoon mixture. Serve immediately.