Chop the peaches roughly and pop in a pan with the sugar and 1 teaspoon of vanilla extract and cook (let it simmer) until soft with a thick syrup.
Pour the cooked peaches into a large bowl and set aside to cool.
Whisk the cold cream in a mixing bowl until thick, then whisk in the other teaspoon of vanilla extract, then gradually add the condensed milk while whisking.
Blend the cooled peaches into a puree.
Gradually add the peach puree into the ice cream mixture, while whisking.
Pour into your freezer tub and freeze for at least 4 hours or overnight.
Before serving, allow to sit until soft enough enough to scoop.
Serve and enjoy!
Notes
If you are serving the same day as you make this ice cream, it doesn't matter if your freezer container has a lid.
If you are keeping your ice cream longer, you should cover it with a lid or freezer-friendly.
This ice cream can be kept for up to 2 weeks in the freezer.