In saucepan, combine sugar and gelatin. Stir in nectar. Cook and stir until gelatin dissolves. Remove from heat.
In blender, add fruit, yogurt, and vanilla. Cover; blend until smooth.
Pour into small bowl. Stir in gelatin mixture. Cover; freeze 2 to 3 hours or until almost firm. Beat with electric mixer on medium speed 2 minutes until fluffy.
Transfer to 8x8x2-inch pan. Cover; freeze for about 4 hours or until firm. (Or freeze in 2-quartice cream freezer according to manufacturer's directions.)
To serve, let stand for 10 minutes. Scoop into dessert dishes. Makes 6 servings.