Servings: 8 (Makes 1 quart)
Start to finish: 2 hours and 40 minutes, plus 8-12 hours to strain yogurt
1 quart plain whole-milk yogurt
1 teaspoon unflavored gelatin
1 vanilla bean
1/2 cup maple syrup
1 teaspoon vanilla extract
1/8 teaspoon salt
Line colander or fine-mesh strainer with triple layer of cheesecloth and place over large bowl. Place yogurt in colander, cover with plastic wrap (wrap should not touch yogurt), and refrigerate until at least 1 1/4 cups liquid has drained from yogurt, at least 8 hours or up to 12 hours.
Discard 3/4 cup of drained liquid and return remaining liquid to bowl. Sprinkle gelatin over liquid and let sit until softened, about 5 minutes. Microwave mixture until bubbling around edges and gelatin dissolves, about 30 seconds. Cut vanilla bean in half lengthwise. Using tip of paring knife, scrape out seeds; discard bean. Add seeds to warm gelatin mixture and let cool for 5 minutes.
In large bowl, whisk drained yogurt, maple syrup, vanilla extract, salt, and cooled gelatin mixture until well combined and smooth. Place bowl over ice bath, or cover and refrigerate, until yogurt mixture registers 40 F or lower.
Transfer mixture to ice cream machine and churn until mixture has consistency of thick soft-serve and registers about 21 F, 25 to 35 minutes. Transfer frozen yogurt to airtight container and freeze until firm, at least 2 hours or up to 5 days. Serve.
Nutrition information per serving: 131 calories; 36 calories from fat; 4 g fat (3 g saturated; 0 g trans fats); 16 mg cholesterol; 95 mg sodium; 19 g carbohydrate; 0 g fiber; 18 g sugar; 5 g protein.