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Cook peaches in a large pot of boiling water 1 minute, then submerge in ice water. Slip off skins. Slice into ¼" wedges.
Bring peaches and 3 cups ginger beer to a boil in a medium saucepan over high heat. Reduce heat to medium-low, cover, and simmer until peaches are fork-tender, about 5 minutes. Let cool completely.
To assemble floats, divide peaches among tall glasses and pour 1 Tbsp. poaching liquid over each; reserve remaining poaching liquid for another use. Top with 2 scoops of ice cream, then pour remaining 3 cups ginger beer over. Serve with spoons and straws.
Peaches can be poached up to 3 days ahead. Transfer to an airtight container and chill.