Add softened cream cheese and the rest of the ingredients to a large mixing bowl and whip by hand or by using a hand-held electric mixer or stand mixer at medium speed, scraping down the sides as you go.
8 ounce cream cheese, ⅓ cup plain Greek yogurt, 2-4 tablespoons Maple syrup, 1 teaspoon pure vanilla extract, 1 teaspoon freshly squeezed lemon juice
Continue whisking until the frosting turns smooth and fully combined.Spread using a knife, piping bag, or a plastic bag with a corner cut off.