Heat oven to 375°F. In large bowl, mix granulated sugar, molasses, butter and egg. Stir in remaining cookies ingredients until well blended.
With small cookie scoop or by rounded teaspoonfuls, scoop dough 2 inches apart onto ungreased cookie sheet.
Bake 8-10 min or until set. Cool 2 min; remove from cookie sheets to cooling rack. Cool completely, about 30 min.
In small bowl, mix powdered sugar and 1/3 cup yogurt until smooth. Spread icing over cookies.