Whisk together the milks, ¼ cup granulated sugar, Truvia, and 4 Tablespoons of powdered peanut butter in a glass measuring cup. Microwave for 1 to 1 ½ minutes until the mixture is hot and steaming, but don't let it boil.

With an electric mixer, beat the egg yolks with the remaining ¼ cup of sugar until they are light yellow and thickened, about 2 to 4 minutes.

Beat ½ cup of the peanut butter-hot milk mixture into the egg yolks and sugar. Turn into a saucepan and stir in the remaining milk mixture. Cook over medium-low heat, stirring, until temperature reaches 180 F and the custard is slightly thicker and coats a spoon. Do not allow to boil.

Pour into a glass or plastic bowl.

Stir in the Greek yogurt, the remaining 2 Tablespoons of powdered peanut butter and almond extract.

Cool to room temperature. (To speed up this process, put the bowl holding the custardy yogurt base into a larger bowl filled with water and ice.)

Once the yogurt base has reached room temperature, refrigerate for about 2 hours in order to bring the temperature down to about 40 F.

Place the yogurt base in the frozen bowl of an ice cream machine and churn until it reaches desired consistency, about 20 minutes for soft to medium set.

Once it has set, scoop the frozen yogurt into a container and place in the freezer.

Before serving, let it sit for a short time at room temperature to soften for easy scooping and best taste.