Preheat oven to 350 degrees. Line a baking pan that has raised edges with parchment paper. The raised edges will keep the juices from spilling all over in your oven.
Cut each peach into 8 slices and remove the pit.
Lay the peaches on the parchment paper.
Place into the oven and bake for 20 minutes. Flip the peaches and bake for another 20 minutes. The edges will caramelize slightly and the peaches will be tender.
Let cool for about 10 minutes.
Place the peaches, brown sugar, almondmilk, and greek yogurt into a blender. Blend until smooth.
Pour the mixture into ice pop molds. Freezer overnight.
Run the ice pop mold under warm water for 20 - 30 seconds to remove the ice pops.