Peel and finely chop fruit, or put in food processor and pulse into finely chopped. Place in a large bowl. Stir in yogurt and blend well. Add honey, vanilla and cinnamon, if using, and stir well. Taste to adjust sweetness. You may also add a pinch of salt if you choose. Allow to sit for 30 minutes in the refrigerator, then transfer to ice cream canister and freeze according to manufacturer’s instructions.
Serve immediately or transfer to a freezer container and freeze. The frozen yogurt will be a lovely yellow-white or yellow-pink depending on color of nectarines or peaches and will have nuggets of scrumptious fruit.