puree peaches in blender or food processor or smash with a fork
Mix together milks, sugar and vanilla.
Add peach mixture to milk mixture
Pour into ice cream maker and process to manufacturer's directions
Place in a freezer container and freeze to allow to set up.
Notes
My favorite table top ice cream maker is this Cuisinart version.Always store your ice cream in an insulated tub to protect it from freezer burn and forming ice crystals. This is the one I have.Allow the ice cream to set up in the freezer for several hours before serving.