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Optional for extra creaminess: Place a mesh colander lined with a paper towel over a bowl. Add yogurt and let strain for 1-2 hours. Discard liquid and proceed with the recipe.
Stir together all ingredients until well-combined. Taste it to adjust the sweetness as you like.
Add to a freezer-safe container, seal the lid, and freeze for 3-4 hours or until just firm, and stir vigorously to break up any parts of the frozen yogurt that have frozen more solid than others. Serve.
(Or freeze overnight and let sit at room temperature for a bit before serving so it's very creamy (and not frozen solid). Stir and mash it up before serving for the creamiest consistency and to break up any ice crystals that form. You can also microwave it for 30-60 seconds, then stir, to serve more quickly from the freezer.)