Bring a pot of water to a boil. Fill a large bowl with ice water. 

Take each peach and score the top and the bottom with an X, trying to cut just through the skin. Drop the peaches into the boiling water (working in batches, if needed) and let boil for 30 seconds to a minute.

Immediately remove the peaches with a slotted spoon into the ice water. Let them sit in the water until completely cooled. Once removing from the water, you should be able to easily peel the skin off.

Once the skin has been removed, cut in half and remove the pit, then chop the peaches.

Place the peach chunks into a pot along with the water. Cook the peaches over medium heat until soft and cooked through, about 10 minutes. Turn off the heat and stir in the sugar.

Chill the mixture until completely chilled.

Once chilled, pour the peach mixture into a blender or food processor, along with the yogurt and lemon juice. Puree until smooth.

Pour the mixture into an ice cream maker and churn according to the machine instructions.

Once churned, transfer to a freezer safe container and freeze until firm.