Simple and delicious chocolate peanut butter frozen Greek yogurt, soft-serve style. Ready in 30 minutes or less and packed full of protein. Adapted from [Martha Stewart|http://www.marthastewart.com/961881/chocolate-peanut-butter-frozen-yogurt].
In the bowl of a stand-mixer, fitted with the whisk attachment, mix together the condensed milk, peanut butter, vanilla and salt until smooth. With mixer on low speed, add in the yogurt, milk, and cocoa powder until completely combined, scraping the sides of the bowl as needed. Transfer the mixture into your ice cream maker and churn, per manufacturers instructions (I churned mine 15-20 minutes). Serve promptly. Freeze leftovers in a covered container. Allow frozen yogurt to soften on the countertop a bit after it has been frozen.