Begin by peeling and finely chopping about 2 cups of ripe peaches or nectarines. If you prefer, you can pulse them in a food processor until finely chopped.

Add 2 cups of Greek or regular plain full-fat yogurt to the bowl with the chopped fruit. Use a spatula or whisk to blend the ingredients together until smooth.

Stir in about 2/3 cup of honey, 1–1/2 teaspoons of Tahitian vanilla extract, and a pinch of salt. Optionally add 1 teaspoon of ground cinnamon.

Transfer the bowl to the refrigerator and let the mixture chill for at least 30 minutes.

After chilling, transfer the mixture to your ice cream maker and freeze according to manufacturer's instructions for 20-25 minutes.

Serve immediately as a soft-serve treat or transfer to a freezer-safe container for later enjoyment.