Season yoghurt with lemon juice, vanillin sugar and sugar. Put the yoghurt mixture into a prepared ice cream machine and stir until creamy for about 30 minutes. Drain the peaches on a sieve.
Dice 2 halves. Puree the rest with the cutting stick of the hand mixer. Stir the peach puree and peach cubes briefly into the yoghurt mixture, pour the mixture into a bowl and allow to freeze for approx. 2 hours in the freezer.
Peel and slice the kiwis. Wash the peaches and cut them into slices from the stone. Cut off ice cream scoops and arrange on plates with the fruit.