In a sauce pan off heat whisk together the sugar, cream, milk, vanilla, and egg yolks until very well combined.
Place the saucepan over medium heat, stirring constantly until it thickens enough to coat the back of a spatula.
Transfer to an airtight container (strain through a fine mesh strainer if any lumps were created), refrigerate until chilled, about 4 hours and up to 24.
Preheat the grill to medium high heat (alternately, a cast iron grill pan can be used).
Brush the cut side of the peaches with oil. Place, cut side down, on a hot grill. Close the lid and allow to grill until deep grill marks appear, about 4 minutes.
Remove from grill and gently peel the skin away (should remove easily).
Chop the peaches.
Add the peaches and the ice cream base to your ice cream maker and churn according to the manufacturer’s instructions. Freeze until set, about 2 hours.
Remove from freezer about 5 minutes prior to serving to make scooping easier.
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