Spread almonds in single layer on baking sheet.
Bake at 350Â°F, 12 to 15 minutes, stirring occasionally, until lightly toasted.
Cool; chop coarsely.
Bring milk to a boil in heavy saucepan; set aside.
Beat egg yolks with sugar until light and lemon colored.
Gradually stir in hot milk; mix well.
Return egg yolk mixture to pan.
Cook, stirring constantly, over low heat until mixture coats back of spoon.
Do not boil.
Remove from heat and cool.
Blend in yogurt, vanilla and almond extract.
Stir in almonds.
Pour mixture into ice cream freezer.
Freeze according to manufacturer's directions.