Peel and chop 4 cups of peaches.
Place two cups of peaches in the blender with 1 cup whole milk and 1/2 cup sugar. Blend well.
In a mixing bowl, beat the heavy cream on high-speed with an electric mixer until soft peaks form. Add condensed milk and continue to beat until stiff peaks form.
Using a spoon, stir in the half-and-half, peach puree, 2 cups chopped peaches, and the vanilla.
Pour the ice cream mixture into the 4 to 6 quart canister of the ice cream freezer.
Add milk if necessary, to fill the canister to the freezer line.
Freeze according to the ice cream maker instructions.