Place yolks, lemon juice, garlic, sugar, salt, and chipotle in food processor. Pulse to combine. Alternatively, blend with immersion blender.
With processor or blender running, slowly pour in oil. Process until aioli forms and thickens, about a minute. Turn processor off, scrape sides, process again until combined.
Serve immediately or store in airtight container in refrigerator until ready to use.