Step 1

Add the heavy cream, sweetened condensed milk and vanilla to a large bowl. Whisk together then cover with plastic wrap.

Step 2

Let the mixture chill in the fridge for at least 2 hours, or overnight.

Step 3

Add the diced peaches, sugar and vanilla to a small pot over medium heat.

Step 4

Cook the peaches, stirring frequently, until the juices have thickened, 15-20 minutes.

Step 5

Remove from the heat and allow to cool completely.

Step 6

Preheat the oven to 350 degrees and spray a 9 x 15 baking sheet with non-stick spray.

Step 7

Add the melted butter, sugar, vanilla and milk to a medium bowl. Whisk together.

Step 8

Then add in the flour, baking powder and salt, and whisk until smooth.

Step 9

Pour the batter onto the greased baking sheet. Bake for 13-15 minutes, then let cool completely.

Step 10

Break up the cobbler into small pieces, then set aside.

Step 11

Once the ice cream base has chilled, pour it into the mixing bowl of an ice cream machine. Churn the ice cream for 35-40 minutes or until thick and frozen, resembling soft serve ice cream.

Step 12

Pour the vanilla ice cream into a large mixing bowl. Add 1/2 of the peach compote and 1/3 of the cobbler pieces to the bowl and fold into the ice cream with a rubber spatula. (Work quickly to avoid melting the ice cream.)

Step 13

Pour 1/2 of the ice cream into a 9x9 pan. Drizzle about 1/4 cup of salted caramel sauce on top and sprinkle with 1/2 of the left over peach compote and 1/3 of cobbler pieces.

Step 14

Add the remaining ice cream on top and repeat. (You can reserve some of the cobbler pieces for serving as well). Cover the ice cream with plastic wrap and freeze until solid, about two hours.

Step 15

Serve the ice cream with left over cobbler pieces and extra salted carmel sauce!