Peel and dice the peaches, then place them in a bowl. Mash with a fork and leave some pulp. Stir well, then place in the refrigerator for an hour.
In the freezer bowl container of your ice cream maker, add the sweetened condensed milk, instant vanilla pudding, and evaporated milk. Whisk until smooth.
Add peaches and half & half. Whisk again.
Place the container in the ice cream maker and put the lid on. Pack the outside with rock salt and ice in layers until it reaches the top.
Turn on the ice cream maker and follow the manufacturer's instructions.
When churning stops, remove the stainless container. If ice cream is solid enough, serve right away.
If ice cream needs to be more solid, put in a plastic container and freeze for a few hours until hard.
Notes
Serve homemade peach ice cream in cones or bowls for summertime fun!
Substitute frozen peaches or other berries if desired.
To easily peel peaches, place in a bowl of boiling water for 1 minute, then transfer to a bowl of ice water. Peelings will easily fall off with a little tug.