Peach Cobbler Frozen Yogurt

2 large or 3 medium fresh peaches, peeled and sliced (about 2 1/2 cups)
2 teaspoons lemon juice
3/4 cup sugar
1/2 cup nonfat milk
1 teaspoon unflavored gelatin
1/4 teaspoon ground cinnamon
1 tablespoon margarine or butter, optional
1/2 teaspoon vanilla extract
1/2 cup nonfat milk
1 cup plain nonfat yogurt — stirred
3 vanilla wafers, broken into 1/2-inch — (3 to 4) pieces

In blender or food processor fitted with metal blade, combine peaches,
lemon juice and sugar. Process until chopped but not pureed. In 1-1/2- or 2-quart saucepan, combine peach mixture and 1/2 cup milk. Sprinkle gelatin over peach-milk mixture; let stand 1 minute. Stir in cinnamon and
margarine or butter, if desired. Simmer over medium-low heat about 3 or 4 minutes, stirring frequently. Remove from heat; stir in vanilla. Cool
peach mixture. Set aside 3/4 cup peach mixture in refrigerator. Stir 1/2
cup milk and yogurt into remaining peach mixture. Freeze in ice-cream
maker according to manufacturer’s directions. When frozen fold in chilled
3/4 cup peach mixture and vanilla wafers just enough to create a swirled
effect. Or follow refrigerator-freezer instructions and fold in chilled
3/4 cup peach mixture and vanilla wafers after final processing or beating
just enough to create a swirled effect. Makes about 1 quart.