Generally speaking, ice cream has more sugar than frozen yogurt. Ice cream is made with cream, sugar, and milk, whereas frozen yogurt is made with milk and yogurt. However, many low-sugar or sugar-free ice cream brands are now on the market. Regarding calories, ice cream and frozen yogurt can have a similar number of calories per serving. And again, this will depend on the type of brand you choose. For example, a cup of vanilla ice cream can have around 160 calories, whereas a cup of strawberry frozen yogurt can have about 140 calories.