In a small bowl, combine the yeast, water, and sugar. Allow to sit for 10 -15 minutes, until foamy.
In the bowl of a standing mixer (or large mixing bowl if kneading by hand), add the flour, salt, and baking powder. To the dry ingredients, add the yeast mixture, yogurt, and ¾ cups of milk. Knead on low until soft and elastic, about 6-8 minutes using a standing mixer and 8 - 10 minutes if you're kneading by hand. Add a tablespoon of milk at a time if the dough is too dry (I needed just 1 extra tablespoon).
Oil a large bowl with 1 tablespoon of oil. Roll the dough around the bowl to coat. Cover with a clean tea towel, and allow to rest undisturbed in a warm place for 1.5 to 2 hours. The dough should double in size.
Punch down the dough and divide into 8 equal pieces. On a lightly floured surface, roll the dough into balls. Place the rolled balls under a damp tea towel (make sure they're not too close together, as they will rise and expand). Allow to rise for 45 minutes.
Roll each ball of dough into a ¼-inch thick oval.
Heat a large cast iron pan (or other heavy-bottomed pan) over medium-high heat. Working with one piece of dough at a time, cook the first side for 1 - 2 minutes. Once bubbles appear, flip and cook for another 1 - 2 minutes. Place the naan on a plate and brush with the melted butter and sprinkle with cilantro. Serve hot and enjoy!