To easily peel peaches, bring a pot of water to a boil. Place a small “x” in the center bottom of each peach. Drop in boiling water for 1 minute, fish out. Pinch a corner from the x between a knife and finger and pull. The skin will pull right off.

Preheat oven to 350 degrees F. Line a baking pan with parchment paper or foil. Add a 9″ x 5″ loaf pan to the freezer.

Place peaches on baking sheet, sprinkle with brown sugar, toss, and roast 25 minutes or until caramelized, turning as needed. A few dark spots are ok, but watch carefully to avoid burning.

Immediately transfer to a container or bowl (preferably something with a flat bottom, so the peaches can easily be mashed if mashing by hand) and refrigerate until cold. Once chilled, for best results, hand mash. Add the condensed milk.

Alternatively, the peaches may be added to a food processor with condensed milk and pulsed until the mixture is still chunky or smooth, your preference. Transfer to a bowl and set aside.

In a large bowl, add cream, and with an electric beater, whip until soft peaks form. Add in the extract and powdered sugar and briefly beat to firm, not quite stiff peaks. Do not over-whip. Add about 1/3 of the peach mixture and, by hand, with a spatula gently stir in. Add in the remainder and fold in.

Working quickly, place in a 9 x 5 loaf pan and spread the top smooth. If adding the optional caramel sauce, working quickly, drizzle across the top; best not to try to get it in an even layer, just freeform wildly across in thick lines. With a butter knife, make cuts and swirls, lifting the knife now and then, through the ice cream, dispersing it roughly through the ice cream.

Put in freezer and once firm to the touch, cover with plastic wrap or foil. Continue to freeze for a total of 8 hours or overnight.

Just before serving, remove ice cream from freezer and place in refrigerator for 10–15 minutes or until ice cream softens enough to scoop.

Nutrition is with the optional Caramel Sauce: