Preheat the oven to 350 degrees F. Grease a 7x11 inch pan or 10-inch oven-safe skillet with nonstick cooking spray.
Make the filling: Add the mixed berries, maple syrup (or sugar), cornstarch and vanilla to the prepared pan and stir until well combined. Set aside.
Prepare the biscuit dough: To the bowl of a food processor, add the pistachios and pulse for 15 seconds or so until the pistachios are fine and resemble a sand texture. (Do not pulse too long or it will become a paste.) Next, add in the flour, sugar, lemon zest, baking powder and salt. Pulse for 6 to 8 times to combine the dry ingredients. Next add the butter cubes and pulse 10 to 15 times until the butter is incorporated and the mixture resembles small pea clumps. Set aside.
Mix the wet and dry ingredients: In a large bowl, whisk the yogurt, milk, lemon zest, vanilla, and almond extract together until well combined and smooth. Add the dry ingredients to the wet ingredients and stir with a wooden spoon until the mixture comes together into a moist, somewhat sticky dough. Do not overmix or the dough will become tough.
Add the topping: Now what you do next is up to you! A few options: OPTION 1. Drop large spoonfuls (or just use your hands to grab large pieces) of the biscuit dough over the mixed berries, smoothing the dough slightly so it is about ¾ inch thick. You do not need to cover all of the fruit, a few open spaces are fine. OR OPTION 2. You can use a ¼ cup measuring cup or a large cookie scoop to grab the biscuit dough and drop it on top of the berries. You don’t want the biscuits too thick, so I still like to pat them down before adding them on top of the berries so they are about ¾-inch thick or so.
Bake: Brush the biscuit dough with a little milk, then bake for 45 minutes to 1 hour until the biscuits are nice and golden brown and the filling is bubbling. Allow the cobbler to cool for at least 10 minutes before serving in bowls with a scoop of vanilla bean ice cream.