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In small pan, combine poppy seeds and milk. Bring to a simmer over medium heat; remove from heat and let stand 30 minutes.
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Preheat oven to 350°.
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Lime 12 muffin tins with paper liners; set aside.
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In small bowl, whisk flour, baking powder, baking soda and salt; set aside.
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In medium bowl, beat butter till light and fluffy with mixer on high speed. Beat in sugar till light and fluffy.
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Lower speed to medium, beat in eggs, one at a time, then beat in poppy seed mixture, orange and lemon zest and vanilla.
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Lower speed to low, beat in flour alternately with orange and lemon juices, just till blended.
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Spoon batter into paper lined tins.
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Bake till tops are gold and springy when lightly pressed with fingertip, about 20 minutes.
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Cool for 15 minutes in muffin tins on rack.
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Remove to cool completely.