Step 1

Whisk together yogurt, orange juice, zest, and sugar in a mixing bowl until sugar has completely dissolved. Add lemon juice and salt in 1/4 teaspoon increments, until flavor tastes balanced between sweet and tart. Chill in an ice bath or refrigerate until yogurt registers at least 40°F on an instant-read thermometer.

Step 2

Churn yogurt in ice cream machine according to manufacturer's instructions. Transfer ice cream to airtight container and chill in freezer for at least 4 to 5 hours before serving.