Begin by combining 2 cups plain Greek yogurt, 1/2 cup honey, 1 tsp vanilla extract, and 1/4 cup whole milk in a blender. Blend on high speed for 60-90 seconds until completely smooth and creamy, scraping down sides as needed.
Add 2 tbsp fresh lemon juice, 2 tbsp maple syrup, and 1/4 tsp cinnamon to the blended mixture. Pulse gently 3-4 times to incorporate without introducing excess air, which can create icy crystals.
Pour the base into a shallow freezer-safe container and spread evenly. Freeze for 2 hours, then stir vigorously with a fork to break up ice crystals forming around the edges—this prevents the frozen yogurt recipe from becoming rock-solid.
After the second freezing cycle of 2 hours, fold in 1/2 cup strawberries, 1/2 cup blueberries, 1/4 cup raspberries, and 1/4 cup peaches using a gentle hand. The cozy frozen yogurt should have a soft-serve consistency at this point.
Return to freezer for 30 minutes until scoopable but still creamy. Top each serving with 1 tbsp granola, 1/2 tbsp almonds, 1/4 tbsp chia seeds, and a sprinkle of coconut flakes before serving immediately.