Creating Grilled Nectarine Frozen Yogurt is simple when you follow these steps:

1. Prepare the Nectarines: Wash and halve the nectarines, removing the pits.
2. Preheat the Grill: Preheat your grill to medium heat.
3. Grill the Nectarines: Place the nectarines cut-side down on the grill. Grill for about 5-7 minutes or until grill marks appear and they soften slightly.
4. Make the Yogurt Mixture: In a mixing bowl, combine the Greek yogurt, honey (or maple syrup), vanilla extract, lemon juice, and a pinch of salt. Stir until smooth and creamy.
5. Blend the Grilled Nectarines: Once the nectarines are grilled, let them cool slightly, then chop them into small pieces. Blend half of the grilled nectarines into the yogurt mixture until smooth. Fold in the remaining pieces for added texture.
6. Chill: Pour the mixture into a freezer-safe container. Cover and freeze for at least 3-4 hours, or until firm. For the best texture, stir the mixture every hour for the first three hours.
7. Serve: Once frozen, let it sit at room temperature for a few minutes before scooping to soften slightly.