Recipe courtesy of Tonya and Keith Brown

3 large navel oranges
2 cups whole milk
8 tablespoons cornstarch
6 cups reduced fat milk
2 cups sugar
Orange food coloring to desired color
16 ounces Publix or other brand “creamy blends” vanilla yogurt

Zest oranges into large strips with vegetable peeler, avoiding the white pith. Juice the oranges to yield approximately 3/4 cup juice, strain the juice and set aside. Whisk whole milk and cornstarch together and set aside. Combine reduced fat milk, sugar and zest in a large saucepan and bring to a simmer over medium heat, stirring constantly to avoid scorching. Add whole milk/cornstarch mixture and juice to saucepan; whisk until thick and bubbly. Remove zest, stir in food coloring and yogurt until well combined. Chill mixture in ice bath, then transfer to refrigerator. Freeze in ice cream maker according to directions. Yields one gallon.