This study was performed to determine the feasibility of developing a healthy yogurt using tofu whey concentrates separated by nanofiltration (NF). The curd yogurt was prepared from whole milk with added skim milk powder, in which the NF powder was substituted at 0, 6.25, 12.5, or 25% for the skim milk powder. The quality characteristics were evaluated for pH, titratable acidity, viscosity, color, and viable cell counts. There were no significant differences in pH or titratable acidity between the control (yogurt with added skim milk powder only) and the yogurts with added NF powder, after 24 hr of fermentation at $37^{circ}C$. The apparent viscosities of the yogurts with added NF powder were higher ($3,197{sim}3,574;cps$) than that of the control yogurt (3,196 cps). Lightness decreased, while yellowness increased, as the amount of NF powder increased. Sensory evaluations showed that the NF powder could be substituted for the skim milk powder at 6.25% without lowering the yogurt quality.