1) Process non-dairy milk and chocolate chips in a food processor until chips are small and it begins to look like chocolate milk. Add vanilla yogurt and sugar. Process until well blended, 30 seconds or so.
2) Freeze according to your ice cream maker's directions. I used the frozen bowl method, and it takes 25 to 30 minutes to freeze. I then transfer it to another container and freeze that for a couple of hours.
Source of recipe: This is a vegan, better version of a recipe that came with the Cuisinart ice cream maker.