Heat oven to 375°F. Place paper baking cup in each of 10 regular-size muffin cups; spray paper baking cups with cooking spray (do not use baking spray with flour).
In medium bowl, stir Bisquick mix, brown sugar and cinnamon with whisk. Make well in center of mixture. In small bowl, stir 1 container yogurt, the milk, melted butter, vanilla and egg with whisk until well blended. Add to dry ingredients, stirring just until moistened. Stir in walnuts and carrots just until blended. Divide batter evenly among muffin cups (cups will be full).
Bake 20 to 25 minutes or until tops of muffins are lightly browned and spring back when touched lightly in center. Cool 10 minutes; remove from pans to cooling racks. Cool completely, about 20 minutes.
Just before serving, beat whipping cream with electric mixer on high speed until stiff peaks form; fold in 1 container yogurt. Spread mixture on cooled muffins.