In a saucepan, whisk together evaporated milk, egg yolks, and Splenda Sugar Blend until sweetener dissolves.
Cook over medium heat, whisking constantly, until mixture is near boiling and thickens slightly. Stir in vanilla extract. Transfer custard to a bowl and refrigerate until cold.
Transfer peaches to a food processor or blender; process until smooth.
In a bowl, stir together peach puree and yogurt; cover and refrigerate until ready to freeze.
Combine peach mixture and custard. Pour into freezer container of an ice cream maker; freeze according to manufacturer’s instructions.
Transfer frozen yogurt to a freezer-safe container; cover and freeze 1 hour or until firm.