1. Microwave milk for 1 min at 600W. Add the sugar, inverted sugar and glucose. Mix well. Let it cool in a water bath. Set aside.
2. In a bowl, add the yogurt and the milk mixture from #1. Mix. Add the heavy cream. Mix well.
3. Set the gelato mixing blade. Transfer the ice cream mixture into your compressor ice cream maker and let it run according to manufacturer's instructions. It should take 40~60min, depending on the coldness of the mixture. In case, you should let it run until the mixture turns thick and creamy.
4. Transfer the ice cream to a storage container, and let it freeze until you eat!