1Heat oven to 375°. Spray round pan, 8x1 1/2 inches, with cooking spray. Mix milk, egg, oil and almond extract in large bowl until smooth. Stir in Bisquick and sugar until Bisquick is moistened (batter will be lumpy). Spread batter in pan.
2Mix peaches and yogurt; spoon onto batter. Swirl lightly with knife. Sprinkle with brown sugar and almonds.
3Bake 25 to 30 minutes or until toothpick inserted in cake near center comes out clean. Serve warm or cool. Store covered in refrigerator.