Customize dialog which has single-choice list items

I created a Dialog with single-choice list items:

final CharSequence[] items = {"Red", "Green", "Blue"};

AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Colors");
builder.setSingleChoiceItems(items, -1, new DialogInterface.OnClickListener() {
          public void onClick(DialogInterface dialog, int item) {
                Toast.makeText(getApplicationContext(), items[item], Toast.LENGTH_SHORT).show();
            }
        });
AlertDialog alert = builder.create();
alert.show();

How can I customize the layout of this dialog so that each list item in the dialog consists of a icon and a text. How to create custom layout for the list on the dialog?