First step, strain the yogurt. I used a couple of layers of paper towel and a metal strainer. Even if you're using greek yogurt, you'll want to strain it for at least 2 hours to remove the excess water. If water remains in the yogurt, the end result will be icy frozen yogurt.
Once your yogurt is strained, discard the extra liquid. Mix the vanilla and sweetener in the strainer yogurt. Whisk until smooth.
Place the yogurt mixture into your ice cream machine and churn for 15-20 minutes, or if you don't have a machine, place in a container and put in the freezer. Freezing time depends on the style of container you use. Check every 20-30 min. To get a soft serve consistency, shouldn't take much longer than 1 hour.
Best served soft-serve style. You can freeze further to make harder, but I found it was hard to get it that in-between stage. It was either soft serve or rock hard so you'd need to let it defrost a bit.
Nutrition
Serving size: 1 cup Calories: 146 Fat: 0 g Carbs: 15 g Sugar: 7 g Sodium: 95 mg Protein: 24 g Cholesterol: 10 mg
Recipe by Busy But Healthy at https://busybuthealthy.com/vanilla-frozen-yogurt-sugar-free-fat-free/