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In a large mixing bowl, combine the strained Greek yogurt, peanut butter, honey, vanilla extract, and coconut milk. Use a mixer to blend the ingredients until smooth.
Gently fold the chopped dark chocolate into the mixture.
Cover the bowl and place it in the freezer for 45 minutes.
Remove the bowl from the freezer and stir with a rubber spatula, making sure to mix the frozen edges into the still-soft center.
Repeat this stirring process every 30-45 minutes until the ice cream reaches your desired consistency.
Serve immediately. For leftovers, let the ice cream freeze solid. Before serving again, remove from the freezer 15-20 minutes in advance to allow it to soften slightly.