Pour your milk and 1 cup of heavy cream into a pot and place it over medium-low heat. Once steaming (not boiling!), remove from heat and add in your fresh rosemary, pressing down to cover it in the liquid. Cover the pot with a lid and leave to steep at room temperature for 30 minutes before placing in the fridge overnight. The longer it steeps, the better the rosemary flavor!

If the bowl of your ice cream maker needs to be frozen before use, pop it in the fridge now so it’s ready to go!

The next day, strain your rosemary milk through a fine mesh strainer into a bowl. Whisk in your Greek yogurt, sugar, vanilla, salt, and remaining 2 tablespoons of heavy cream

Cover and chill in the freezer for 30 minutes

Pour the rosemary froyo base into the ice cream mixer and churn on low speed until you’ve reached a soft serve consistency. About 15 minutes

Place your rosemary froyo into a freezer-safe container and freezer for a few hours, until it’s firmed to a scoopable consistency. Enjoy!