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In a bowl, combine chopped peaches and granulated sugar. Let sit for 20 minutes to allow the juices to release and the flavors to deepen.
Prepare the creamy base:
In a large bowl, mix together the half-and-half, sweetened condensed milk, evaporated milk, and vanilla extract until well combined.
Combine everything:
Gently stir the macerated peaches (with their juice) into the creamy mixture.
Add to ice cream maker:
Pour the mixture into your ice cream maker’s freezer container. Top off with whole milk until it reaches the fill line (usually about 2 cups).
Churn:
Freeze according to your ice cream maker’s instructions (typically 20–30 minutes) until the mixture reaches soft-serve consistency.
Hardening:
Transfer the churned ice cream into an airtight container and freeze for at least 2 hours to firm up.
Serving and Storage Tips:
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