In a medium bowl or container, whisk together the Greek yogurt, maple syrup, vanilla extract, and salt until completely smooth and well combined. Cover and refrigerate for at least 30 minutes, or up to 2 hours, before churning (or freeze directly for 8 hours if you don't have a ice cream machine).
Pour the chilled yogurt mixture from Step 1 into your ice cream machine and churn according to the manufacturer's instructions (typically 20-25 minutes). The mixture should reach a soft-serve consistency when done.
Transfer the churned ice cream from Step 2 to a freezer-safe container and freeze for at least 4-6 hours, or overnight, until firm enough to scoop. If you don't have an ice cream machine, you can skip Step 2 and freeze the mixture from Step 1 directly for 8 hours, breaking it up with a fork every 2 hours to create a granita-like texture.
Remove the frozen ice cream from the freezer 5-10 minutes before serving to allow it to soften slightly for easier scooping. Scoop into bowls or cones and add your favorite toppings such as fresh berries, granola, nuts, or additional maple syrup drizzle.
