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).