Frozen Yogurt

I modified this recipe to include no sugar and vanilla beans: http://www.101cookbooks.com/archives/a-frozen-yogurt-recipe-to-rival-pinkberrys-recipe.html, and used stevia instead, a liquid sweetener with no sugar or carbs (this sweetener is better for diabetics than Equal, Splenda, etc. because the powdered fake sugars have some carbs). The dish is not fat free however--since I used whole milk yogurt.

2 large cartons whole milk plain yogurt
1/2 cup milk (any kind of milk: skim, 2%, full, etc)
1 vanilla bean
a few tsp of vanilla
A few drops of liquid stevia (to taste)

Drain yogurt in a colander lined with cheesecloth overnight in the refrigerator.

Split vanilla bean and simmer it in a small amount of milk for 5 minutes to extract the flavor. Do not boil hard. Let the mixture cool to room temperature. Strain with a colander if necessary.

Thoroughly mix the vanilla flavored milk, a few tsp of vanilla, the drained yogurt, and some drops of stevia (approximately 10-20 drops) to taste. Freeze in an ice cream maker.

Note: This froze into ice after it sat in the freezer for a while. I suspect that is because of the lack of sugar. This article Tips for Making Homemade Ice Cream Softer by David Lebovitz has some suggestions that I would try next time. e.g. adding 1-3 Tbsp of alcohol, using 1 tsp gelatin. I used full fat yogurt to also try to keep this from freezing solid.