Pour the peaches onto a sieve and drain well, collecting the juice. Dice three peach halves and set aside. Bring milk to the boil in a saucepan, remove from the heat, add pudding cream powder all at once while stirring and continue stirring vigorously for one minute (do not put back on the heat).
Let the pudding cool down a bit, stir in the quark. Stir in plum jam as well. Puree the rest of the peaches, peach juice and vanillin sugar. Fill dessert glasses 1/3 full with peach puree, spread semolina cream on top.
Decorate as you like with lemon balm and orange biscuits. Add the rest of the purée separately.