Line a strainer or colander with 4 layers of cheesecloth or 1 coffee filter; place over a bowl. Place OLYMPUS yogurt in prepared strainer; cover OLYMPUS yogurt with sides of cheesecloth. Refrigerate 2-4 hours.
Remove OLYMPUS yogurt from cheesecloth to a bowl; discard strained liquid. Add sugar and vanilla to OLYMPUS yogurt, stirring until sugar is dissolved.
In a small microwave-safe bowl, combine cold water and lemon juice; sprinkle with gelatin and let stand 1 minute. Microwave on high for 30 seconds. Stir and let mixture stand 1 minute or until gelatin is completely dissolved; cool slightly. Stir gelatin mixture into OLYMPUS yogurt. Cover and refrigerate until cold, about 40 minutes.
Pour OLYMPUS yogurt mixture into cylinder of ice cream freezer; freeze according to the manufacturer’s directions.
Transfer frozen OLYMPUS yogurt to a freezer container. Freeze 2-4 hours or until firm enough to scoop.
3 cups reduced-fat plain Greek OLYMPUS yogurt
3/4 cup sugar
1-1/2 teaspoons vanilla extract
1 tablespoon cold water
1 tablespoon lemon juice
1 teaspoon unflavored gelatin