Place the ice cream maker bowl in the freeze 6-24 hours before making this recipe.
Add the peaches and 1/2 cup of sugar in a medium mixing bowl and gently toss to coat. Allow to sit for 2 hours so the peaches can macerate.
Pour the juices in the bowl of peaches into a small bowl and set that aside. Then purée half of the peaches in a food processor or blender.
In a large mixing bowl, whisk the sugar and milk together until the sugar is dissolved.
Add in the heavy cream, vanilla extract, peach juice, and peach puree.
Put the frozen ice cream maker bowl into the machine. Pour the ice cream base into the bowl and proceed as your ice cream maker directs.
When there is about 5 minutes left before you need to stop the ice cream maker, add in the chopped peaches. Once the time is up, you will have soft serve ice cream.
If you want your ice cream to have the "standard" consistency, transfer it to a freezer-safe container. Allow the ice cream to freeze for 2-4 hours to your desired consistency.
Notes
If fresh peaches aren't in season, you can use frozen peaches that have been thawed. You can puree the whole peach slices, but you will need to chop the remaining peach slices before adding them to the ice cream. If you're using fresh peaches, they can be skin-on or skin-off. (I prefer skin-on.)