In a small bowl, place water and stir in gelatin then set aside for 15 minutes until the gelatin softens.
Whisk all of yogurt, vanilla extract and 1 cup of milk in a large bowl.
Simmer the remaining milk and sugar in a small saucepan.
Stir in water-gelatin mixture previously prepared and remove from heat.
Add this mixture to the yogurt mixture and whisk, then at the end stir in lemon juice.
Pour the mixture into small cups and chill in fridge for 2 hrs.
For the topping, cut the peaches into halves then place them on a baking dish.
Prepare a mixture of balsamic vinegar with honey.
Drizzle the mixture on top of the peaches and season with salt and pepper and thyme.
Place the peaches in the pre-heated oven for 30 minutes until caramelized and tender.
Once done, allow them to cool then serve on top of the cold yogurt mixture.