In a large blender, mix together the first four ingredients. Blend until completely combined.
(If your blender isn’t large enough, do this in batches).
Pour the mixture into a prepared ice cream maker and follow ice cream maker directions to chill the yogurt.
Once it is done, you can transfer the mixture to an airtight container and freeze it to make a more solid mixture or eat it right away (I definitely prefer it right away)
Mix in fresh fruit, chopped candy, cereal, etc. into the frozen yogurt.