In a medium mixing bowl, whisk together the Greek yogurt, honey, and vanilla extract for about three full minutes until light and fluffy.
Transfer the mixture into a freezer-safe square glass or ceramic baking pan. Cover tightly with plastic wrap and freeze for 45 minutes.
Remove from the freezer. Use a flexible spatula to stir and scrape the frozen edges into the soft center. Mash any lumps until smooth. Repeat this stirring process every 30 minutes for the next 2 hours.
After 2 hours of stirring, the froyo will have a soft-serve consistency. For firm scoops, freeze undisturbed for one additional hour.
Notes
Store in an airtight container for up to 3 weeks, though texture is best within the first 48 hours. If frozen solid, let sit on the counter for 20 minutes before scooping.