Heat the oven to 375°F and line a 12-cup muffin pan with paper liners.
Whisk flour, sugar, baking powder, baking soda, salt, and cinnamon in a large bowl.
In a second bowl, whisk eggs, milk, melted butter, and vanilla until smooth.
Pour the wet mixture into the dry mixture and stir just until no dry streaks remain; do not overmix.
Divide batter among the liners, filling each about three-quarters full. Mix topping sugar and cinnamon, then sprinkle it over each muffin.
Bake for 18 to 22 minutes, until domed and a toothpick inserted in the center comes out with a few moist crumbs.
Cool in the pan for 5 minutes, then transfer muffins to a rack to finish cooling.