Make sure to freeze the bowl of your ice cream maker 24 hours in advance.
Mix all ingredients together in a bowl. Taste, and add a bit more maple syrup if you’d like a sweeter taste.
Freeze in an ice cream maker according to the manufacturer’s instructions. You can eat the ice cream right away for a soft serve texture, or freeze it for about 2 hours for a harder texture. The frozen yogurt is best eaten after a few hours of freezing; freezing overnight is not recommended, as we found that it compromises the texture and flavor.