Frozen jogurt was the treat that alien Jeff presented to the other aliens that made then leave Earth alone. But Earth was not destroyed on that episode
In Brave N00b World, Earth is destroyed by nuclear weapons after Stan fails to kill a North Korean general during the Overwatch finals. During the last few hours both China and the USA launch "cultural pods" which collide. China's pod contains Chinese ice cream, and that what the aliens found millions of years later, which leads to them recreating the planet.
I have major depression and I have watched almost every episode many, many times, I know what I'm talking about.
I have access to all the episodes and I was talking about Brave N00b World - it's actually ambiguous the type of ice cream it is. The USA and the Chinese culture pods collide and explode and you don't really get to see which pod it came from.
I assumed it was the frozen yogurt because Brave N00b World takes place after the Jeff episodes which there are more than one of.