Pour the Greek yogurt, maple syrup, vanilla extract, cacao powder, and skim milk straight into the Ninja Creami pint container. Whisk hard for about 90 seconds, until no dry cacao streaks remain.

I used a small milk frother for my second batch. It broke up the cacao lumps in under 30 seconds, faster than my whisk managed on the first try.

Look at the max fill line printed on the inside of the pint container before you freeze anything. My first batch crept just above that line, and the lid barely snapped shut.

When your mixture sits above the line, pour off two or three tablespoons instead of forcing the lid closed. That extra room matters once the base expands slightly while freezing.

Snap the lid on tight. Set the container flat in the coldest part of your freezer for a full 24 hours. Resist the urge to check on it early.

A shorter freeze leaves a soft center that won’t spin evenly later. The middle of the tub should feel completely solid, not slushy, before you move to the machine.

Remove the lid, drop the frozen tub into the outer bowl, then lock on the machine’s lid. Select the Frozen Yogurt setting and let the full cycle run.

The first spin usually leaves the base crumbly and dry, closer to wet sand than soft serve. That’s normal, not a failed batch, and it happens on nearly every run.

Press Respin right away without adding liquid to the container. Check the texture after each cycle, since most batches need two respins before the ribbons turn smooth.

When it still looks powdery after three respins, let the tub sit out for 6 minutes. The slight thaw usually loosens things enough for one more successful cycle.

Once the base looks glossy and holds its shape on a spoon, scoop it straight from the tub into bowls. It softens fast at room temperature.

Serve within about 10 minutes of the last spin for the best texture. Past that point, the edges start to lose their shape and turn soft.