Creamsicle in a Glass

1 (6 ounce) can frozen orange juice concentrate
1 (8 ounce) container low-fat vanilla yogurt
1 cup milk
1 tablespoon sugar
1/2 teaspoon vanilla extract
3 ice cubes
Orange slices for garnish

Place orange juice concentrate, yogurt, milk, sugar and vanilla extract in blender. Process on medium until mixture is smooth. Increase speed to high and drop in ice cubes, one at a time, through opening in blender cover. Process until ice is crushed. Garnish, if desired, and serve immediately.