In medium bowl, place peach slices and 1/2 cup of sugar. Stir well. Allow peaches to rest at room temperature for about 1 hour, untl peaches soften and release their juices.
Use a fork to mash peaches in juice. OR put peaches in juice in blender and blend until smooth.
In another medium bowl, whisk eggs for 1-2 minutes until light and fluffy. Slowly whisk in 3/4 cup sugar until completely blended.
Pour in sweetened condensed milk, haevy cream, and milk. Whisk to combine.
Stir in peaches in juice.
Follow instructions on your ice cream freezer to freeze ice cream. Depending on capacity of your ice cream freezer, you may need to divide mixture into batches for freezing.
Transfer ice cream to storage container and place in freezer until firm, if desired.