Pumpkin Frozen Yogurt

1 (15 ounce) can pumpkin puree

1 ½ cups low-fat plain Greek-style yogurt

½ cup maple syrup

½ teaspoon vanilla extract

½ teaspoon ground cinnamon

½ teaspoon ground nutmeg

½ teaspoon ground cloves

In a large bowl, mix together the pumpkin, yogurt, maple syrup, vanilla extract, cinnamon, nutmeg, and cloves until smooth. Refrigerate the mixture until thoroughly chilled; freeze in an ice cream freezer according to manufacturer s instructions. Pack the frozen yogurt into a sealed container, and freeze until serving time.