In a large bowl, mix together yogurt and sweetened condensed milk.
Fold in whipped topping.
Stir in cinnamon and almond extract; set aside.
Line a 9x13-inch baking dish with parchment paper.
Place a layer of cinnamon graham crackers over the parchment paper.
Top with one-third whipped topping mixture.
Dot with peach pie filling.
Continue layers, ending with peach filling.
Cover, and chill until ready to serve.