Home Made Pumpkin Yogurt Ice Cream

1 (15 ounce) can pumpkin puree
1 1/2 cups low-fat plain Greek-style yogurt

1/2 cup maple syrup
1/2 teaspoon vanilla extract

1/2 teaspoon ground cinnamon
1/2 teaspoon ground nutmeg
1/2 teaspoon ground cloves

In a large bowl, mix together the pumpkin, yogurt, maple syrup, vanilla extract, cinnamon, nutmeg, and cloves until smooth. Refrigerate the mixture until thoroughly chilled; freeze in an ice cream freezer according to manufacturer's instructions. Pack the frozen yogurt into a sealed container, and freeze until serving time.