Place the peach slices in a food processor (a blender would work fine as well) and run until finely chopped. Put the peaches, half and half, sugar, milk and vanilla in a large bowl and stir to combine.

Put the entire mixture into an ice cream freezer/maker and freeze according to manufacturer’s instructions. If the ice cream has not yet reached your desired consistency, transfer it to a sealed container and put in the freezer until fully frozen. Mine did not need additional freezing, but all ice cream freezers are different. Freeze any leftovers.