Whisk together all ingredients in a large bowl until well combined.
If you have an ice cream maker, churn the mixture according to the manufacturer’s instructions.
Alternatively, freeze the mixture in ice cube trays. Once solid, blend the cubes in a high-speed blender until smooth.
For a firmer consistency, place the blended yogurt back in the freezer for 30-60 minutes.
Serve immediately or store in an airtight container in the freezer.