In a large mixing bowl, whisk the strained yogurt, sugar, cocoa powder, salt, milk and vanilla together. Whisk until the sugar has dissolved. Cover and refrigerate 2 to 3 hours, or overnight.
Turn on the ice cream maker, pour the mixture into the frozen freezer bowl and let mix until thickened, about 15-20 minutes. When the ice cream is almost done churning, add the chopped pretzels through the opening at the top of the ice cream maker. Transfer the ice cream to an airtight container and place in freezer for about 2 hours for a firmer consistency if desired, otherwise enjoy the soft, creamy texture.
*If you do not have a cheesecloth, you can use a couple of layered paper towels.
Recipe courtesy: Cuisinart Recipe Booklet