You need a good strong blender like a vitamix. Just add a package of frozen fruit (12-14 oz), 1/2 cup or less of sugar, and 2/3 cup cream, yogurt, coconut milk or soy milk (I'm going to try out skim milk soon). Then just blend until relatively smooth. It will be soft serve but you can freeze it for a few hours if you like firmer ice cream.
Here's the flavors we've tried:
Mango - fabulous (reminds me of the 4 mango trees we had in our yard during our mission)
Cherry with a drop of almond extract - my husbands absolute favorite. It's unbelievable with hot fudge sauce - tastes like a chocolate covered cherry.
Apricot - cream is great and I tried using plain yogurt and less sugar to make it tart. Loved it!
Chocolate banana - delicious. I just added 3 TBS of good quality cocoa powder.
That's all for now but I have fresh pineapple chunks in the freezer to try that flavor next.