Homemade Frozen Yogurt

plain, vanilla, or flavored yogurt of choice (I used 1 large container Wholesoy unsweetened)

sweetener to taste, such as stevia or agave or sugar (amount will depend on your yogurt and whether you want tart or sweet froyo. Remember: the finished product will be less sweet, so make it just a little too sweet before freezing.)

pure vanilla extract, unless using vanilla yogurt