Bittman Inspired Frozen Yogurt

1 1/4 cup whole milk (I used low fat milk + cream)
4 gg yolks
3/4 cup granulated sugar
(I would use 1/2 cup next time), divided in half
2 cups Greek yogurt (I would suggest Fage or Trader Joe's Greek Style, full fat or 2%)
1 tablespoon vanilla extract

Melt half the sugar in the milk and heat over low heat until steam rises from the milk. Do not boil, but don't panic if you get it to the point of bubbling a bit. Meanwhile, whisk the egg yolks with the remaining sugar until pale yellow and fluffy. Slowly, by dribbles, add half a cup of milk to the egg yolk mixture, whisking continuously to prevent curdling. When the egg yolks are thinned out, pour it slowly back into the milk, whisking continuously.
Cook the custard over medium low heat, stirring often. You'll need to cook until the mixture is somewhere between 175 and 180 degrees, or until you can coat the back of a spoon with it and the custard will hold a line if you run your finger through it. I find the spoon test more effective than my thermometer.
Cool the custard in an ice bath or uncovered until it's room temperature. Whisk in the vanilla and yogurt, then chill overnight. Churn in ice cream machine, then put in freezer.
It's not as decadent as homemade ice cream, but people who like the tang of good yogurt will probably enjoy this.