1. **Prepare the Peaches:** In a large bowl, combine the diced peaches with the sugar. Mix well and let the mixture sit for about 10-15 minutes, allowing the peaches to release their juices and the sugar to dissolve.
2. **Mix the Base:** In a separate large bowl, whisk together the half-and-half, sweetened condensed milk, evaporated milk, and vanilla extract until smooth.
3. **Combine:** Add the peach and sugar mixture to the milk mixture, stirring well to combine.
4. **Prepare for Freezing:** Pour the mixture into your ice cream freezer container. Add whole milk until the mixture reaches the fill line, usually about 2 cups.
5. **Freeze:** Place the container in your ice cream maker and follow the manufacturer’s instructions to churn the ice cream until it reaches the desired consistency.
6. **Quick Tip:** Pre-cooling the container in the refrigerator or freezer for about 30 minutes before adding the mixture can help the ice cream set faster during churning.
7. **Serve and Enjoy:** Once the ice cream has churned, serve immediately for a soft-serve texture, or transfer it to a lidded container and freeze for a few hours for a firmer consistency.
**Notes:**
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