Whisk together yogurts with sugar, a pinch of salt, and vanilla.
Add yogurt mixture to a chilled ice cream maker. Churn for 20-25 minutes until mixture is desired consistency. I like it best served soft like this.
Serve tart fro-yo with toppings like chocolate, candy, fresh fruit, etc.
You can freeze this for later in an airtight container. Try to keep the fro-yo creamy by stirring it every 30 minutes as it freezes. Also, let it thaw for 20 minutes when you pull it out of the freezer so it softens a bit.