In a bowl, whisk the Greek yogurt, honey (or powdered sugar), lemon zest, lemon juice, vanilla extract, and salt until smooth.
Slowly add the cold milk and continue whisking until the mixture is creamy.
Transfer the mixture to a freezer-safe container and cover with plastic wrap or a lid.
Freeze for 30 minutes, then stir with a fork to break up ice crystals.
Repeat every 30 minutes for about 3-4 hours until it reaches a creamy ice cream texture.
Before serving, let the ice cream sit at room temperature for 5 minutes to soften.
Scoop into bowls or hollowed-out lemon halves for an elegant presentation.
Garnish with fresh mint leaves or a drizzle of honey.