Preheat the oven to 180C or 350F. Line two baking trays with parchment paper.
In a medium saucepan combine the milk, water, butter, sugar, and salt. Cook over medium heat, stirring occasionally, until the butter has melted and the mixture just comes to a boil. Remove from the heat.
Add the flour to the milk mixture and mix it with a wooden spoon until incorporated.
Place the saucepan back on the heat and mix with the wooden spoon until you have a smooth ball that comes away easily from the sides of the saucepan.
Place the dough into the bowl of a stand mixer and, using beater attachments, mix for 2 to 3 minutes, or until the dough cools down.
Add the eggs, one at a time, and mix thoroughly after each addition. The dough should form a past.
Place the paste in a piping bag with a plain or large star nozzle. Holding the piping bag at a 45-degree angle, pipe 4-inch strips of the paste onto the prepared baking trays, leaving 2 inches between each.
Bake at 180C or 350F for 10 minutes. Then reduce the heat to 160C or 320F and bake for an additional 20 minutes, or until the pastries are golden brown.
Remove the pastries form the oven and prick each with a skewer to release the heat. Cool on a wire rack.
Once they have cooled, make two holes in the bottom of each with a piping nozzle.
Combine the cream, sugar, and vanilla in a medium bowl and beat with a whisk until soft peaks form. Fold in the yogurt.
Fill a piping bag with the vanilla cream and place it in the refrigerator to chill.
Place the chocolate in a medium glass bowl.
Combine the cream, butter, and salt in a small saucepan. Bring just to a boil, stirring, over medium heat.
Pour the hot cream over the chocolate and whisk until the chocolate has melted completely. Keep the glaze warm and set aside.
Assemble the eclairs by piping vanilla cream into each pastry.
Dip the filled eclairs into the chocolate glaze and shake off the excess.
Place on a wire rack and allow the glaze to set.
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