Preheat the oven to 350 degrees F, and line baking sheets with parchment paper.
Place the flour, sugar, cocoa powders, baking powder, baking soda, and salt in a large mixing bowl, and whisk to combine.
Add the soft butter, and mix on medium speed using the paddle attachment for about a minute. The mixture should resemble damp sand.
Stir in the eggs until incorporated.
Scrape the bottom and sides of the bowl with a silicone spatula, and add the Greek yogurt and vanilla.
Mix on medium-high speed for about a minute and a half, to aerate the batter and build the cake’s structure.
Using a 1-ounce scoop, drop balls of batter on the prepared sheet pans.
Bake for 10 to 12 minutes, or until the cakes spring back when lightly pressed.
Cool completely, then sandwich around 1 ounce of filling.