Peel and pit the peaches, roughly chop or slice if desired. Put in food processor or blender and pulse a few times to break them down into small chunks.
Add sugar and pulse to combine. Then pulse in milk.
Stir in cream until just combined, don't add too much air.
Pour into ice cream maker and freeze according to manufacturer's instructions.
Scoop into storage containers and freeze until solid.
Notes
Feel free to use frozen peaches or drained canned peaches if you don't have fresh.