Preheat the Oven: Preheat oven to 400°F and line a small baking tray with parchment paper.
Season the Peaches: Place peach halves cut-side up on the tray. Sprinkle with brown sugar, cinnamon, salt, and vanilla extract if using.
Bake the Peaches: Bake for 15–20 minutes until soft, caramelized, and slightly bubbling with juices.
Plate the Dessert: Transfer warm peaches to a plate.
Add the Frozen Yogurt: Scoop vanilla frozen yogurt alongside the peaches.
Serve: Enjoy immediately while the peaches are warm and the yogurt is cold for contrast.