#### **Step 1: Prepare the Peaches**
In a blender or food processor, puree **half of the peaches** until smooth.
In a bowl, toss the remaining **diced peaches with 2 tablespoons of sugar** and let sit for **10 minutes** to release juices.
#### **Step 2: Make the Ice Cream Base**
In a large mixing bowl, whisk together **milk, heavy cream, remaining sugar, vanilla extract, lemon juice, and a pinch of salt**.
Stir in the **pureed peaches** to infuse the base with peach flavor.
#### **Step 3: Churn the Ice Cream**
Pour the mixture into an **ice cream maker** and churn according to the manufacturer’s instructions (**about 20-25 minutes**).
In the last 5 minutes of churning, add the **diced peaches** for texture.
#### **Step 4: Freeze & Serve**
Transfer the churned ice cream to an **airtight container**.
Freeze for **at least 2 hours** to firm up before serving.