Cut the peaches in half and remove the pit. Slice each half in half and toss them in a bowl with the vanilla extract, almond extract, and brown sugar. Set aside for 15 minutes while you preheat a grill with a medium-high heat. Grill skin side down until skin is slightly charred, about 3 minutes. Turn and grill on the other 2 sides until you get nice grill marks, about 1 minute on each side.
Divide the peaches among 4 bowls and serve with the frozen yogurt and toasted almonds, if desired.
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