In a stand mixer or a bowl with a hand mixer, beat the whipping cream until you get soft peaks.

Add in the sweetened condensed milk, vanilla and optional yogurt if using. Mix until well combined for about 1 minute.

Separate ice cream liquid into 4 separate bowls: 2 medium (main colors) and 2 small (accent colors). Color each bowl with food coloring until you get the desired color.

If the liquid is too runny, place the bowls in the freezer in 15 minute increments until it holds up a bit.

In a large container, pour your #1 main base color and then combine each color by the large spoonful and toss in randomly the chopped Mars bar. Mix gently with spatula to blend the colors a bit. Top with sprinkles if desired.

Freeze for 6 hours to overnight before serving with an ice cream scoop.