1. Macerate the peaches: Toss the diced peaches with 2 tablespoons of sugar and a pinch of salt in a medium bowl. Stir well and let the mixture rest for 20 to 30 minutes until the peaches release their juices and the sugar dissolves into a fragrant syrup.

2. Puree and portion the peaches: Transfer two-thirds of the macerated peaches and all their juice to a blender or food processor and puree until smooth. Set the remaining one-third of whole peach pieces aside in a small bowl. You should have about 3/4 cup of puree total.

3. Blanch the egg yolks: Whisk the egg yolks and 1/2 cup of sugar together in a medium heatproof bowl until the mixture turns pale yellow and slightly thick, about 2 minutes. This dissolves the sugar and prepares the yolks for tempering.

4. Heat the dairy: Combine the whole milk, heavy cream, and sweetened condensed milk in a medium saucepan over medium heat. Stir gently and heat until the mixture just begins to steam and reaches about 150 degrees Fahrenheit. Do not let it boil. Remove from heat.

5. Temper the yolks: Slowly pour a thin, steady stream of the hot dairy mixture into the egg yolk bowl while whisking constantly to prevent scrambling. Once about half of the dairy is incorporated, pour everything back into the saucepan.

6. Cook the custard: Return the saucepan to medium-low heat and stir constantly with a silicone spatula, scraping the bottom and sides, until the custard thickens and reaches 170 to 175 degrees Fahrenheit. It should coat the back of the spoon and a line drawn through it with a finger holds clean.

7. Strain and cool: Immediately strain the custard through a fine-mesh sieve into a clean bowl. Stir in the vanilla extract, 1/4 teaspoon salt, and the peach puree. Press plastic wrap directly onto the surface and refrigerate until completely cold, at least 2 hours.

8. Churn the ice cream: Pour the cold custard base into your ice cream maker and churn according to the manufacturer’s instructions, about 20 to 25 minutes, until the mixture reaches a thick, soft-serve consistency. In the last 2 minutes of churning, add the reserved whole peach pieces.

9. Harden in the freezer: Transfer the churned ice cream to a loaf pan or airtight container. Press a piece of parchment paper directly onto the surface to prevent freezer burn, seal tightly, and freeze for at least 4 hours until firm and fully scoopable.

10. Serve: Let the container sit at room temperature for 5 to 8 minutes before scooping. Serve in chilled bowls with fresh peach slices or a drizzle of honey.