Combine evaporated milk and gelatin in large saucepan. Heat, stirring often, until gelatin dissolves. Add sugar and heat until it dissolves. Using a wire whisk, stir in apricots, apricot nectar, yogurt and vanilla. Pour mixture into canister of ice cream machine. Churn 20-30 minutes or until softly frozen. Pack into containers and freeze. For best flavor, let ice cream soften slightly before serving. Makes 2 quarts.