Preheat the oven to 130 degrees Celsius / 265 degrees Fahrenheit.
Slice the peaches into quarters and pull out the stones. Place the peaches into an oven-proof dish and sprinkle over the sugar and pour over the Amaretto liquor.
Bake the peaches for 20-30 minutes until tender and juicy, then allow to cool to room temperature before peeling off the skins and blending them into a puree.
Whip the heavy cream in a large mixing bowl with an electric hand mixer until thick and gloopy, then fold in the sweetened condensed milk, salt, and vanilla extract.
Pour half of the creamy vanilla ice cream base into a freezer container or suitable piece of Tupperware. Pour half of the blended stewed peaches on top and swirl into the ice cream using a fork or chopstick.
Repeat with the other half of the ice cream base and peach puree, then cover the ice cream with a peach swirl with plastic wrap or a lid.
Freeze for at least 6 hours before scooping out and enjoying as peach ice cream cones or as a peach ice cream sundae.
Notes
Time-saving tips:
Use peach jam instead. But trust me, for the best-tasting version of peaches and cream ice cream, it's worth taking the extra steps in this recipe.
Use canned peaches. Just drain them first before blending. My one issue with canned peaches is that they have a more artificial flavor, so there will be a significant difference in taste.
If you don't have the time or equipment to whip cream, vigorously stir in some fresh lemon juice instead. The citric acid will thicken the cream naturally.
Instead of stewing peaches in the oven, place the peaches and other ingredients in a saucepan over medium-low heat until they are tender.