In a stand mixer fitted with the whisk attachment, whip the heavy cream and powdered sugar together on high until soft peaks form. Add the pudding mix, vanilla, and almond extract and whip until combined and thick. Add milk, a tablespoon at a time, until you've reached desired creamy consistency. Refrigerate filling until ready to use.

In a medium saucepan, heat the peaches over medium heat until they soften and their juices start to release, about 3-4 minutes. In a separate bowl, combine the sugar, cornstarch, salt, and cinnamon. Add mixture to the peaches and continue cooking until it begins to thicken, about 2-3 minutes. Remove from heat and stir in the vanilla; set aside.

In a large bowl, whisk together the flour, sugar, baking powder, baking soda, and salt. In a separate bowl, lightly whisk the egg, then mix in the milk, yogurt/sour cream, and vanilla. Stir in the melted butter. Fold the wet mixture into the dry ingredients until just combined, avoiding over-mixing.

Heat a large nonstick skillet over medium heat with some vegetable oil. Once hot, pour 1/4 cup of batter onto the skillet. Cook pancake until little bubbles begin to form on the surface. Flip and cook the other side until golden brown, about 1-2 minutes. Repeat with the remaining pancakes.

Serve pancakes warm, with cream filling and peach topping.