Freeze the ice cream maker insert for at least 24 hours before starting.

In a large bowl, combine the whole milk, heavy cream, vanilla extract, and sugar. Stir until the sugar dissolves.

Cover the bowl and place it in the freezer for 30 minutes to chill.

Pour the base into the ice cream maker and churn for approximately 15 minutes or until reaching soft-serve consistency.

Wash and peel the peaches, chop them, then blend with sugar until smooth.

Transfer half the churned ice cream to a container, layer with half of the peach puree, add remaining ice cream and swirl the rest of the puree on top.

Cover and freeze for 3-4 hours until firm. Let sit at room temperature for 5 minutes before serving.