Boil the milk with the cinnamon. Remove it from the stove, add the honey and strain through a sieve. Leave it to cool.
Add the yolks and beat the mixture in a water bath until thickened. Take it out, put it in a large container with ice and beat until the mixture is fully cooled.
Add the yoghurt, stir the mixture and leave it in the freezer for 5 hours but be sure to take it out every hour and beat it with a fork or whisk.