Place the whipped topping, cream cheese, pudding mix, vanilla extract, and yogurt into a large bowl. Whisk together until fully combined and smooth. Cover the mixture and refrigerate until ready to make the salad or for about one hour.
Wash, pat dry the peaches. Cut in half, remove the pit and slice the fruit.
Remove cream mixture from the refrigerator and gently fold in sliced peaches, stir gently to combine.