Peel and dice 2-3 ripe peaches into small pieces. Toss with lemon juice and let sit for 15-20 minutes.

In a bowl, whisk together milk and sugar until dissolved. Stir in cream and vanilla until well combined.

Gently fold the peach mixture into the ice cream base until combined, retaining some chunkiness.

Pour the mixture into an ice cream maker and churn for about 20-25 minutes until soft-serve consistency.

Transfer ice cream to an airtight container and freeze for at least 4 hours or overnight to firm up.

Let ice cream sit at room temperature for 5-10 minutes before serving for easier scooping.