Place all the ingredients in a bowl and whisk to combine.
Pour the yogurt mixture into an ice cream maker and chill according to manufacturers directions (I have a Cuisinart Supreme Ice Cream Maker and it took 30 minutes).
Place the mixture in the freezer to firm up, about 1-2 hours.
*If you don’t own an ice cream maker, no worries, this mixture can be poured into popsicle molds and frozen for 6 hours or longer.