Peel the peaches by blanching them in boiling water for 30 seconds, then transferring to ice water to cool before slipping off the skins. Dice them into 1/2-inch pieces and combine in a bowl with the granulated sugar and fresh lemon juice. Stir well to combine, then refrigerate for 1 hour. This macerating period allows the peaches to release their juices and the sugar to dissolve, creating a flavorful syrup that will give your ice cream depth and natural peach essence. After chilling, gently mash the peaches with a fork or potato masher—you want a chunky texture, not a smooth puree, so the ice cream has lovely peach pieces throughout.

In a large bowl, whisk together the evaporated milk and instant vanilla pudding mix until smooth and well combined—this creates the backbone of your ice cream's texture. Stir in the sweetened condensed milk, then add the half and half, whisking until everything is fully incorporated. I like to add the salt at this point because it enhances the overall flavor and balances the sweetness of the condensed milk without making it taste salty. The combination of these three milk products creates a rich, creamy base that doesn't require eggs but still achieves a luxurious mouthfeel.

Pour the creamy base mixture from Step 2 into your ice cream maker, then add the mashed peaches with all their juices from Step 1. Gently fold the peaches into the cream base until evenly distributed—don't overmix as this can incorporate too much air and affect the texture. I recommend chilling the combined mixture in the refrigerator for 30 minutes before churning if your ice cream maker hasn't been pre-frozen, as this helps achieve a smoother final texture. Churn according to your ice cream maker's instructions, typically 20-30 minutes, until it reaches a soft-serve consistency.

Transfer the churned ice cream from Step 3 to a freezer-safe container, smooth the top, and freeze for at least 4-6 hours or until completely firm. This resting period allows the ice cream to harden properly and the flavors to meld together beautifully.