1-1/2cups whole milk
½ cups granulated sugar
4 cups fat-free vanilla yogurt
1/2 cup heavy cream
1 tsp pure vanilla extract
½ blueberries

In a medium mixing bowl, use a hand mixer on low speed to combine the milk and granulated sugar until the sugar is dissolved, about 1 to 2 minutes. Stir in the yogurt, heavy cream, and vanilla. Turn the machine on; pour the mixture into freezer bowl, and let mix until thickened, about 20 to 25 minutes. The frozen yogurt will have a soft, creamy texture. If a firmer consistency is desired, transfer the frozen yogurt to an airtight container and place in freezer for about 2 hours.

Remove from freezer about 15 minutes before serving.