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Whip the cream until stiff peaks form.
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While the cream is whipping, pulse the peaches in a blender until desired consistency. (I like to have some peach chunks in my ice cream, so I don't puree it. If you want smooth ice cream, blend until pureed).
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Combine the sweetened condensed milk, vanilla, salt and peaches.
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Fold the whipped cream into the milk mixture.
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Place ice cream mixture in a freezer-safe container and freeze for about 6 hours, or until hard.
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Let stand at room temperature for 10 minutes before scooping.