Chocolate Peanut Butter Frozen Yogurt

In the bowl of a stand-mixer fitted with the whisk attachment, mix together the condensed milk, peanut butter, vanilla and salt until smooth. With mixer on low speed, add in the yogurt, milk and cocoa powder until completely combined, scraping the sides of the bowl as needed. Transfer the mixture into your ice cream maker and churn per manufacturer’s instructions (I churned mine 15-20 minutes). Serve promptly. Freeze leftovers in a covered container. For the frozen leftovers, make sure that you allow the frozen yogurt to soften on the counter top a bit before serving.

Notes:
– If you don’t have an ice cream maker, you can freeze the base mixture in a freezer safe container until firm but scoop-able, about 4 hours. If you do this make sure that you beat with an electric mixer every hour (per Martha Stewart’s version of this recipe).
– Yield: 4-5 cups.

Adapted from Martha Stewart.