Pour 2 cups plain Greek yogurt, 3/4 cup heavy cream, and 1/2 cup whole milk into a large mixing bowl. Stir to combine. Prep time: 5 minutes.

Add 1/2 cup granulated sugar, 2 tablespoons honey, 1 tablespoon vanilla extract, and 1/4 teaspoon salt to the yogurt mixture. Whisk vigorously for 2–3 minutes until the sugar and honey are completely dissolved and the mixture is smooth. Checkpoint: The mixture should look uniform with no visible sugar crystals when you lift the whisk.

Add 2 tablespoons fresh lemon juice and stir for 30 seconds. Taste a small spoonful. If you want it sweeter, add 1 tablespoon more sugar and stir well. If you want it more tangy, add 1 more tablespoon lemon juice. Checkpoint: The mixture should taste pleasantly sweet with a subtle tang—not overly sour.

If using an ice cream maker: Pour the mixture into your ice cream maker bowl (make sure it has been chilled per the manufacturer's instructions, usually overnight). Churn for 20–25 minutes on medium speed. The mixture will thicken and become pale. Churn until it reaches soft-serve consistency—it should mound slightly on a spoon but still be creamy. Checkpoint: The frozen yogurt should look like soft-serve ice cream, thick enough to hold a peak but still pourable.

If using the freeze-and-stir method (no ice cream maker): Pour the mixture into a shallow 9-inch square baking dish or loaf pan. Place in the freezer. After 1 hour, use a fork or whisk to scrape the frozen edges toward the center, breaking up any ice crystals, then stir vigorously for 1 minute. Return to freezer. Repeat this scrape-and-stir process every 45 minutes for a total of 4–5 hours until the mixture reaches soft-serve consistency. This manual method takes longer but still produces creamy results.

Transfer the soft-serve frozen yogurt to a freezer-safe airtight container (a 1-quart container works well). Smooth the top with a spatula. Freeze for at least 4 hours, preferably overnight, until firm enough to scoop. Freeze time: 4–12 hours.

To serve, remove the container from the freezer and let it sit at room temperature for 3–5 minutes to soften slightly. Use an ice cream scoop to portion into bowls or cones. If the frozen yogurt is too hard to scoop, dip the scoop into warm water and wipe dry between scoops for easier serving.

Top with fresh berries, granola, chocolate chips, crushed cookies, or your favorite toppings. Serve immediately.

Storage: Cover the container tightly with plastic wrap or an airtight lid. Homemade frozen yogurt keeps in the freezer for up to 2 weeks, though flavor and texture are best within the first week.