Preheat oven to 375 degrees F (190 degrees C). Grease muffin cups or line with paper muffin liners.Mix together milk and yogurt, then mix with wheat bran; let stand for 10 minutes.Beat together oil, egg, sugar and vanilla and add to milk/bran mixture. Sift together flour, baking soda, baking powder and salt. Stir flour mixture into bran mixture, until just blended. Spoon batter into prepared muffin tins.Bake for 14 to 16 minutes, or until a toothpick inserted into the center of a muffin comes out clean. Cool and enjoy!