Combine first 3 ingredients in a saucepan. Stir in milk; let stand 1 minute. Place over low heat; cook 5 minutes or until gelatin disolves, stirring constantly. Remove from heat; stir in syrup. Let cool. In food processor add peaches and process until smooth; scraping the sides of the processor bowl occasionally. Combine peach puree, gelatin mixture, yogurt, and vanilla in a large bowl; stir well. Cover and chill 8 hours. Pour mixture into a freezer can of a 1-quart hand-turned or 1/2-gallon electric freezer. Freeze according to manufacturer's instructions. Allow to ripen 1 hour in freezer can. Yield: 10 servings (about 93 calories per 1/2 cup serving)
