In a mixing bowl, combine the diced peaches with half of the sugar (½ cup). Let them sit for about 15-20 minutes, allowing the peaches to release their juices.

Once the peaches are nice and syrupy, blend them in a blender or food processor until smooth. If you prefer a chunkier texture, reserve some peach pieces to fold in later.

In a separate mixing bowl, whisk together the remaining sugar, heavy cream, whole milk, vanilla extract, and lemon juice until the sugar is dissolved. Then, fold in the blended peach mixture (and reserved peach pieces if desired).

Cover the bowl and put it in the refrigerator for at least 2 hours to chill.

Pour the chilled mixture into an ice cream maker and churn according to the manufacturer's instructions, usually about 20-25 minutes.

Transfer the churned ice cream into an airtight container and freeze for at least 4 hours or until firm.

Scoop out your homemade peach ice cream and serve with your favorite toppings!