Step 1

Cook blueberries with lemon juice, sugar, salt, cinnamon: Place the blueberries, lemon juice, sugar, salt, and cinnamon in a medium saucepan. Heat on medium heat, stirring, until all of the sugar has dissolved.While the mixture is heating, use a potato masher to mash up the blueberries. When all of the sugar has dissolved, remove from heat. Strain out the blueberry skins and let the juicy blueberry syrup cool for 10 minutes.

Step 2

Stir in yogurt, milk, then chill: Stir in the yogurt and milk until completely incorporated.Cover and chill the mixture in the refrigerator for several hours (or overnight) until completely cold.

Step 3

Process in ice cream maker: Process the blueberry yogurt mixture in your ice cream maker according to manufacturer's instructions (usually about 25 minutes).Serve immediately (it will be soft) or let it firm up a bit by freezing it for several hours.