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Blend ingredients: Add Greek yogurt, milk or cream, cocoa powder, sweetener, and vanilla extract to a blender. Blend until completely smooth. Taste and adjust sweetness if desired.
Freeze if using Ninja CREAMi: Pour the mixture into the Ninja CREAMi pint container and freeze for 12-24 hours until solid.
Process in machine: If using a traditional ice cream maker, churn according to your machine’s instructions. If using the Ninja CREAMi, process on the “Lite Ice Cream” or “Ice Cream” setting. Re-spin if needed.
Serve: Enjoy immediately for a soft-serve texture, or freeze for 15–20 minutes for a firmer scoop.