Heat oil in 12-inch skillet or Dutch oven over medium heat until hot. Sprinkle chicken with salt and garlic-pepper. Cook chicken, onion and bell pepper in oil 8 to 10 minutes, stirring occasionally, until chicken is no longer pink in center.
In measuring cup, mix milk, cornstarch, curry powder and sugar. Stir into mixture in skillet. Cook sugar snap peas as directed on box; drain and add to skillet. Stir in yogurt and cilantro; cook over low heat, stirring occasionally, just until heated through. Serve over rice.