The purpose of this study was to determine the optimal amounts and mixing condition of skim milk powder (A), and roselle (B) for the production of yogurt prepared with roselle. The experiment was designed according to the central composite design for estimating the response surface method, which yielded ten experimental points, including two replicates for the skim milk powder and roselle. The physicochemical and mechanical analysis of each sample, including pH (P<0.001), titratable acidity (P<0.001), color (P<0.05), viscosity (P<0.001), showed significant differences. Antioxidant properties (total phenolic content, DPPH free radical scavenging activity) and viable cell counts of lactic acid were significantly different (P<0.05). The sensory measurements were significantly different in color, flavor, sourness, texture, and overall quality (P<0.05). The optimal formulation, calculated by numerical and graphical methods, was 7.82 g of skim milk powder and 2.09 g of roselle. From findings of this study, the roselle may be used in yogurt and can be applied for other food industries.