In a large mixing bowl, combine the whipped topping, softened cream cheese, cheesecake pudding mix, vanilla extract, and peach yogurt. Whisk until smooth and creamy, about 2-3 minutes. Cover with plastic wrap and refrigerate for approximately 1 hour.

While the cream mixture is chilling, wash and dry the peaches. Cut each in half, remove the pit, and slice them into thin wedges, about 1/4-inch thick. Set aside.

Once the cream mixture has chilled, gently fold the sliced peaches into it using a spatula. Be careful to coat the peaches without breaking them.

Serve immediately after combining. Spoon into individual serving glasses or a large bowl.