Preheat oven to 425 degrees F. Combine the yogurt, milk, and mustard in a shallow dish with a fork. Add chicken and turn to coat. Set aside.
In another shallow dish, combine panko, almonds, rosemary, salt, and pepper. Remove chicken from yogurt mixture, letting excess drip off. Dredge chicken in panko mixture and place on a greased rimmed baking sheet.
Bake in preheated 425 degree F oven for 13 to 15 minutes, turning over at about halfway through, or until chicken is done.