Place the NESTLÉ Fat Free Sweetened Condensed Milk, cream and vanilla in a large bowl and beat with for 8-10 minutes until thick and foamy. Carefully fold through the yoghurt.
Mash together the raspberries and icing sugar and fold through the ice cream mixture.
Pour the ice cream into a 22cmx 11cm loaf tin lined with cling film. Freeze overnight, until firm. Serve sliced.