Pineapple Upside-Down Muffin Cakes

"A friend submitted this recipe to a cookbook our school district was compiling. The first time I made them, the whole family declared the recipe a winner. Delicious and healthy to boot, they remain favorites to this day. —Joan Hallford, North Richland Hills, Texas..."

INGREDIENTS
1/3 cup packed brown sugar or 3 tablespoons brown sugar substitute blend
2 tablespoons butter, melted
3 canned pineapple slices
CAKES:
1/3 cup butter, softened
1/2 cup sugar
1 large egg
1/2 teaspoon vanilla extract
1 cup all-purpose flour
1 teaspoon baking powder
1/4 teaspoon baking soda
1/4 teaspoon salt
1/2 cup fat-free lemon or vanilla Greek yogurt
1/4 cup fat-free milk
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