1. Dice peaches and mix with sugar in a bowl. Let it sit while you prepare the other ingredients.
2. In a separate bowl, combine half & half, sweetened condensed milk, evaporated milk, and vanilla. Then add the peaches and sugar mixture. Stir everything together.
3. Pour the mixture into a gallon ice cream freezer container. Add enough whole milk to fill the container up to the fill line, which is about 2 cups.
4. Follow the manufacturer’s instructions to freeze the ice cream.
5. Cooling the container before adding the mixture will help the ice cream harden faster.

Notes:
You can use this same recipe with other fruits like strawberries, blackberries, bananas, raspberries, blueberries, and more. Enjoy your homemade ice cream!