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kathyfrazer
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Peel and dice the peaches. Add them to a saucepan and cook with ½ cup sugar on low heat for about 10 minutes until reduced and thickened. Mash the mixture and stir as you cook. Add the cinnamon at the end of the cooking process. Allow to cool completely.
Whisk to combine milk, additional ½ cup sugar, and salt until dissolved. Stir in the heavy cream and vanilla. Stir in cooled peach mixture. Allow to chill in refrigerator 1-2 hours. Turn on the ice cream machine and pour in the mixture. Process for 15-20 minutes. Scoop into freezer safe container and freeze an additional 1-2 hours.