Preheat oven to 400F and grease a muffin tin with cooking spray.
In a large mixing bowl, combine the flour, baking powder, baking soda, salt, and cinnamon. Whisk to blend.
In a medium mixing bowl, combine the oil, maple syrup, eggs, yogurt, pumpkin, and vanilla. Mix well.
Pour the wet ingredients into the dry and mix gently with a spatula until just combined.
Gently fold in the zucchini and chocolate chips into the batter.
Divide the batter evenly among the 12 muffin cups and bake for about 20 minutes, or until they are golden brown and a toothpick is inserted and comes out clean.
Allow muffins to cool slightly before removing from pan. Enjoy!