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Step 1
In a small saucepan, combine chamomile blossoms, sugar and milk. Place over medium-low heat just until steaming, then reduce heat as low as possible and allow to sit for 20 minutes. Strain. Mix in the vanilla.
Step 2
Remove from heat and transfer to a metal mixing bowl. Place bowl in an ice water bath until mixture is chilled. (Mixture may be chilled in refrigerator if time allows.) Place 1/2 cup mixture in a covered container and refrigerate. Freeze remainder in an ice cream maker according to manufacturer's instructions. Transfer to an airtight container in freezer until needed.
Step 3
Bring a large pan of water to a boil. Add peaches and boil for 20 seconds. Remove and rinse with cold water until chilled. Slough off and discard skins. Cut peaches into 1/4-inch dice. Place in a bowl and mix in the lemon juice and sugar. (May be covered and refrigerated for up to 1 hour.)
Step 4
To serve, melt butter in a medium skillet. Add brioche slices, turning until lightly browned on both sides. Place 2 slices on each of six serving plates, and top with equal portions of diced peaches. Top with a scoop of ice milk. With a whisk, froth unfrozen chamomile milk and drizzle a bit over each plate. Serve immediately.