01 -
In a large bowl, whisk together yogurt, sweetened condensed milk, vanilla extract, lime juice, and lime zest until smooth.
02 -
Pour the mixture into an ice cream maker and churn according to manufacturer’s instructions until frozen and creamy.
03 -
If no ice cream maker is available, beat the mixture thoroughly, then pour into a shallow dish. Freeze, stirring every 30 minutes until creamy.
04 -
Serve soft-serve style immediately or transfer to an airtight container and freeze until firm. Let sit 5 minutes at room temperature before scooping if too hard.
05 -
Top with graham cracker crumbs, fresh lime slices, and whipped cream before serving.