Combine the first 3 ingredients in a saucepan. Stir in milk; let stand 1 minute. Place over low heat; cook 5 minutes or until the gelatin dissolves, stirring constantly
Remove from heat; stir in the corn syrup. Let the mixture cool completely. In a food processor add the peaches and process until smooth; scraping the sides of the processor bowl occasionally
Combine the peach purée, gelatin mixture, yogurt, and vanilla in a large bowl; stir well. Cover and chill 8 hours
Pour mixture into a ice cream machine and freeze according to manufacturer's instructions.
