Place sugar, Silk Soy Creamer, chocolate, and espresso powder in a heavy medium saucepan, over low heat, stirring until the sugar dissolves and the chocolate is melted. Remove from heat, and allow to cool. Stir in the Vanilla Silk Soy Yogurt and the vanilla extract. Cover and refrigerate until cold, or overnight.
Stir the chilled mixture, and freeze in your ice cream machine according to the manufacturer’s directions. When finished, the frozen yogurt will be soft but ready to eat. For firmer frozen yogurt, transfer to a freezer safe container, and freeze at least 2 hours.