While the fruit is roasting, blend together the yogurt, ¼ cup honey, lemon juice and vanilla extract in a medium bowl. Feel free to add more honey or vanilla extract to suit your taste buds. Place the mixture in the refrigerator so it stays cool.
Preheat oven to 350 degrees Fahrenheit. Line a rimmed baking sheet with parchment paper. Transfer sliced peaches to the baking sheet and gently toss with 2 tablespoons honey and a dash of salt. Arrange the peaches in a single layer. Roast for 30 to 40 minutes, stirring halfway, or until the peaches are soft and juicy (watch the edges in particular).