Whisk all the ingredients in a bowl, pour it ice cream maker and freeze according to ice cream makers directions.
I like to use pistachio pudding mix and top with chocolate chips. Mmm.
Also, if you don't have an ice cream maker, you can just eat it as pudding, without freezing it. If you use the pudding mix and just soy milk, it doesn't thicken, soy yogurt is needed.