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1
Whisk cream, yogurt, milk, honey, lemon juice, and salt in a large bowl. Process in an ice cream maker according to manufacturer's instructions.
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2
Transfer frozen yogurt to an airtight container or a shallow baking pan; cover and freeze until firm, at least 2 hours.
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3
Do ahead: Frozen yogurt can be made 1 week ahead. Keep frozen.
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4
Using the tip of a paring knife, score an X in the bottom of each peach. Cook in a large pot of boiling water just until skins begin to peel back where cut, about 1 minute. Using a slotted spoon, transfer to a large bowl of ice water and let cool. Carefully peel peaches, reserving skins.
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5
Bring lemon verbena, Cocchi Americano, sugar, reserved peach skins, and 1 1/2 cups water to a boil in a medium saucepan. Reduce heat and simmer until mixture has thickened slightly and looks syrupy, 10-12 minutes.
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6
Add peaches, cover saucepan, reduce heat, and gently poach fruit until the tip of a paring knife easily slides through flesh, 12-15 minutes. (Very ripe fruit will take less time to cook.) Using a slotted spoon, transfer peaches to a plate and let cool. Cut into wedges.
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7
Meanwhile, return poaching liquid to a boil and cook until reduced by half, 15-20 minutes. Let cool, then discard solids.
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8
Scoop frozen yogurt into small glasses or bowls and serve topped with peaches, some reduced poaching syrup, and pistachios.
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9
Do ahead: Peaches can be poached 3 days ahead. Cover and chill in poaching liquid. Bring peaches to room temperature and reduce poaching liquid just before using.
