Put 1/3 cup finely ground espresso-roast coffee or other dark-roast coffee in a paper-lined coffee filter set over a mug. Pour 1 cup hot (190°) water into filter and let drip through. Chill until cool, about 20 minutes.
In a blender, whirl coffee, 3/4 cup vanilla nonfat frozen yogurt, 1/2 cup ice cubes, and 1 1/2 tablespoons sugar until smoothly pureed. Pour into a glass.