Stir all of the ingredients together in a medium to a large bowl. Pour into an ice cream maker and churn according to the manufacturer's directions, or for about 20- 25 minutes until it reaches a soft-serve consistency.
For harder frozen yogurt or to store, place into an airtight container in the freezer. If storing for more than 24 hours, covering the surface with wax paper, and then placing on the lid, will prevent ice crystals from forming on the top.
Alternatively, to make vanilla frozen yogurt without an ice cream maker, pour into a wide shallow container and freeze, uncovered for one and a half hours, scraping and mixing every half hour. Once evenly frozen, store in an airtight container with a lid.