In a mixing bowl, combine Greek yogurt, almond milk, erythritol (or sweetener), vanilla extract, and salt.
If you want chocolate-flavored ice cream, add the unsweetened cocoa powder.
Whisk the mixture until it's well combined.
Transfer the mixture to your ice cream maker and follow the manufacturer's instructions for churning.
Once the ice cream reaches a soft-serve consistency, transfer it to an airtight container and freeze for at least 3 hours or until firm.
Scoop and serve your homemade Halo Top ice cream guilt-free!