Preheat the oven to 350° F and line a 10" springform pan or cake pan with parchment paper or spray with baking spray.
In a small bowl combine the trimmed rhubarb, sugar, orange juice, and zest and set aside to marinate while you prep the streusel.
Prepare the streusel crumb topping. Grate the cold butter into a medium sized bowl. Add in the, brown sugar, granulated sugar, flour, cinnamon, and salt. Mix to combine using two forks or with a pastry cutter. Place in the freezer while you prepare the rest of the cake.
In a stand mixer fitted with the paddle attachment or using a hand mixer, cream the butter and sugar on medium speed (5-6) until pale and fluffy about 1 minute. Add in the eggs one at a time mixing in between each addition. Scrape the sides of the bowl as needed. Add in the vanilla and mix until combined.
Combine the flour, kosher salt, baking powder, and baking soda on a piece of parchment paper.
Combine the yogurt and milk in a measuring cup.
Starting with the flour mixture, alternate adding in 1/3rd of the flour into the batter with 1/2 of the yogurt mixture. Continue alternating 1/3rd of the flour with 1/2 of the yogurt mixture mixing in between each addition. You should end with the last 3rd of the flour mixture.
Pour the batter into the prepared baking pan. Drain the rhubarb slices and place them on top of the batter. Sprinkle the streusel all over the top of the cake.
Bake for 35-40 minutes or until the streusel is golden brown and the edges of the cake start to pull away from the pan.
In a small bowl combine the confectioners sugar with milk, orange juice or even water. Mix until combined and drizzle over the top of the cake.