In a blender or food processor, combine yogurt, sugar, cocoa powder, vanilla, and salt and blend until completely smooth. Chill in the refrigerator for 1 hour.
Once chilled, pour mixture into your ice cream maker bowl and churn according to manufacturer instructions. It should take approximately 20-30 minutes to churn.
Serve immediately for soft serve, or transfer to a freezer-safe container and chill for at least two hours for a scoopable set.
Notes
Be sure to chill your ice cream machine's bowl at least overnight before making this recipe.