Serves 4-6 (makes 3 cups).
16 oz low-fat plain Greek yogurt
8 oz nonfat plain Greek yogurt
3/4 cup Splenda® or other granulated artificial sweetener (or sugar)
1 Tbsp pure vanilla extract
Zest and juice of 1 large lemon
1/2 tsp kosher salt
In a mixing bowl, whisk together all ingredients. Cover with plastic wrap. Refrigerate for at least 1 hour, and up to 4 hours.
Pour mixture into your ice cream machine, and process for 10-12 minutes until set to the consistency of soft-serve ice cream.
Serve immediately, or transfer to a freezer-safe container and freeze until ready to use. Allow the yogurt to warm up slightly before serving.