Step 1

Peel and chop your peaches into small pieces (smaller pieces "float" in the whipped ice cream instead of sinking to the bottom). Add the butter and chopped peaches to a skillet and sauté over medium-low for about 5 minutes, or until the peaches have softened. Make sure the butter does not brown during this step.

Step 2

Add the brown sugar and balsamic vinegar to the skillet. Turn the heat up to medium and sauté for about 5 minutes more, or until the balsamic vinegar has reduced to a glaze. Set the balsamic peaches aside to allow them to cool.

Step 3

Add the sweetened condensed milk to a medium bowl and stir in the vanilla extract and a pinch of salt.

Step 4

Using either a whisk, a hand mixer, or a stand mixer, whip the heavy whipping cream to stiff peaks in a separate bowl.

Step 5

Add a large dollop of the whipped cream to the bowl with the sweetened condensed milk. Fold the ingredients together to lighten up the sweetened condensed milk.

Step 6

Add 1/3 of the lightened sweetened condensed milk back to the bowl with the whipped cream and gently fold them together. Repeat that two more times until all of the sweetened condensed milk has been folded into the whipped cream.

Step 7

Pour the whipped ice cream mixture into a 2-quart, freezer safe container. If your container is deep (like a bread pan), add half of the whipped mixture first, top with half of the balsamic peaches, then repeat. If using a wider shallow dish (like the baking dish in my photos), you can do one layer of whipped ice cream and then just top with the balsamic peaches.

Step 8

Use a spatula to lightly swirl the balsamic peaches into the whipped ice cream mixture. Do not over stir here. You want distinguishable ribbons of balsamic glaze. Just run the spatula through the mixture once.

Step 9

Cover the dish and freeze the ice cream for 8 hours, or until solid, then serve.