Add all the ingredients to a food processor and process until smooth, scraping the sides as needed with a spatula. Option to place all the ingredients in a bowl and use an electric hand mixer or high speed blender.
Taste and adjust sweetness to taste. Scoop the mixture into a freezable airtight container. Cover with cling wrap or a lid, and freeze for 1 hour. Transfer the mixture to a square 9-inch pan. Cover with cling wrap, and freeze for 1 hour.
Remove the pan from the freezer and stir using a fork then spread evenly again with a spatula. Cover again, and place in the freezer for 4 - 5 more hours, repeating the process of stirring the yogurt every 60 minutes.
Scoop with an ice cream scoop.
If frozen overnight, remove the yogurt from the freezer 10 minutes before serving to allow it to soften. Note, you need to stir it every 60 minutes for at least 5 hours for a nice smooth soft serve texture, then you can allow it to freeze solid and just remove for 10 minutes before scooping.