Ingredients:

4 cups peeled, diced fresh peaches (about 8 small ripe peaches)
1 cup sugar
1 (12-ounce) can evaporated milk
1 (3.75-ounce) package vanilla instant pudding mix
1 (14-ounce) can sweetened condensed milk
4 cups half-and-half

Instructions:

Combine peaches and sugar, and let stand 1 hour.
Process peach mixture in a food processor until smooth, stopping to scrape down sides.
Stir together evaporated milk and pudding mix in a large bowl; stir in peach puree, condensed milk, and half-and-half.
Pour mixture into freezer container of a 4-quart hand-turned or electric freezer; freeze according to manufacturer’s instructions.
Spoon into an airtight container, and freeze until firm.