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Add the chicken broth and garlic to your Instant Pot. Place the trivet inside the Instant Pot and the cauliflower on top of the trivet. Place the lid on the instant pot and set the valve to seal.
Cook for 15 minutes on the Steam setting. When the timer goes off, turn the instant pot off. Quick release the pressure from the pot.
Carefully transfer the cauliflower to your food processor, break it up in pieces as necessary. Do not add the liquid. Let the cauliflower rest for 10 minutes so it cools off a bit.
Add the Parmesan cheese, yogurt, salt and pepper to the food processor and pulse until smooth or until you've achieved the desired consistency.