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In a small saucepan, combine peaches, sugar, and cinnamon. Mix to combine.
Cook over medium heat, stirring often, for about 3-5 minutes, or until peaches have softened and juices have released, creating a syrup. The mixture will have reduced down to roughly ½ cup of peaches/syrup.
Transfer peaches and syrup mixture to a small mixing bowl or large liquid measuring cup.
Add milk and instant vanilla pudding mix to the peach mixture. Use an immersion blender to blend until smooth.
Add heavy cream and stir to combine.
Transfer mixture to a Ninja Creami pint container, being careful not to exceed the max fill line, and secure the lid.
Place pint on a level surface in your freezer. Freeze for 24 hours.
Remove pint from freezer and take off lid.
Place pint into the outer bowl and secure the outer bowl lid.
Place outer bowl assembly into the Ninja Creami machine and lock into place.
Press the Ice Cream button and allow the cycle to complete.
Remove pint and check the ice cream's texture. If it appears crumbly, insert it back into the machine and use the Re-spin cycle. If it's still crumbly after that, add a tablespoon of milk and Re-spin again.