Chill 3 medium bowls and beaters in the freezer until ready to begin.
In medium pot over medium-high heat, add peaches, ¼ teaspoon cinnamon, vanilla and salt, and cook for 15 minutes. Remove from heat and add peaches to a bowl to cool down, then place in the fridge. Once chilled add peaches to blender or food processor and pulse on low 6-7 times or until you achieve a chunky puree.
In the second chilled bowl mix yogurt, sweetened condensed milk & ½ teaspoon of cinnamon & set aside.
In the third chilled bowl blend heavy cream with a hand blender on high until you achieve stiff peaks. Fold in the whipped cream into the yoghurt mixture.
In a loaf pan layer approximately ⅓ of peach puree followed by ⅓ of the cream mixture. Repeat until you top off with the final layer of the cream mixture. Wrap the loaf pan tightly with plastic wrap and freezer for 8 hours or overnight.