Combine milk, eggs, maple syrup, 2 tablespoons sugar, orange peel, and salt; mix well. Pour half of mixture into each of two 9-inch square baking dishes. Dip both sides of each slice of bread in milk mixture; arrange in the same baking dish. Cover with plastic wrap and refrigerate overnight. Marinate cherries in orange juice and remaining 1 tablespoon sugar overnight. Carefully transfer slices to a nonstick, buttered baking sheet using a large spatula; allow excess liquid to drip into pan used for soaking. Bake in a preheated 400°F oven 15 to 18 minutes; turn slices over halfway through baking time. Top each slice with 1/2 cup cherries and a dollop of vanilla yogurt. Serve immediately.
