In a large skillet, stir together the peaches,1/4 teaspoon cinnamon, and the cloves. Cook, stirring over medium high heat until the liquid is reduced and thickened, 15-20 minutes. Stir in the almond extract. Remove from heat and let cool slightly,5- 10 minutes.
Scoop the frozen yogurt into individual bowls and top with the peaches. Sprinkle with the chopped almonds and remaining 1/4 teaspoon cinnamon, and serve immediately.