Preheat oven to 350 degrees and line an 8x8 or 9x9 inch baking dish with parchment. With a stand or hand mixer, cream coconut oil, yogurt, and brown sugar until soft and fluffy. Add molasses and whip until combined, then add egg and vanilla and beat to blend. In a separate bowl, sift flour, baking soda, salt, ginger, cinnamon, and clove. Add to wet ingredients in two batches and beat until combined, though a few streaks of flour are okay. Fold in orange zest with a spatula.
Make your streusel. Add graham cracker crumbs, brown sugar, and cinnamon to a bowl and mix with a fork or your hands. Cut coconut oil in with a fork or your fingers, folding into the graham cracker blend until large soft pieces form. You don't want it to be like a dough, but a fairly cohesive yet still crumbly combination.
Press gingerbread dough into prepared baking dish, pressing against the edges and smoothing with a spatula until evenly distributed. Sprinkle graham cracker streusel evenly on the top. Bake 20-25 minutes or until dough begins to pull away slightly from the edges of the pan. Remove from oven and let cool 10 minutes in the pan. The bars will continue to cook in the pan during this time. Carefully grab both ends of overhanging parchment and remove from the pan to cool completely. Slice into 12 bars.
Once the bars cool, make the ginger glaze. Whip powdered sugar, ginger, and 1 tbsp of milk to start until a glossy, slightly drippy glaze forms. If too liquidy, add more sugar; if too hard, add more milk, 1 tsp at a time. Drizzle over sliced bars. Enjoy right away or store in an airtight container for up to 5 days.