In a medium saucepan over heat, whisk the honey, lemon juice, and zest, and bring to a simmer, stirring, for 3 to 5 minutes, just until the honey is dissolved into the lemon juice to make a syrup. Place the syrup in an uncovered, shallow container and refrigerate until completely chilled, about half hour, stirring occasionally to speed up the cooling process.
Whisk the honey lemon syrup into the yogurt until completely combined.
Yogurt can be eaten as is (scooped out and eaten), or for frozen yogurt, place it in a sealable container., sealed with wax paper. Soft-serve frozen yogurt will harden in about an hour in the freezer.