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Freeze the base of your ice cream maker for at least 24 hours prior to making the frozen yogurt.
Heat honey and the sprig of rosemary over medium heat until the honey starts to gently boil. Remove the pan from the heat and allow the honey to cool. Remove the sprig of rosemary from the pot after the honey has cooled.
Add the yogurt, honey and chopped peaches to a blender and purée until smooth.
Plug in the machine, add the frozen yogurt base and let the machine churn for about 40 minutes until the yogurt has a soft serve like consistency.
Remove the frozen yogurt to a large storage tub and freeze it until it is hardened completely. Enjoy this summer sweet novelty for dessert.