Peel your peaches. To peel them quickly, dunk them in boiling water for 20-30 seconds, then immediately transfer to a bowl of ice water. The skins should slide right off!
Finely chop your peaches and place them in a large bowl. Stir in the sugar until it starts to dissolve.
Add the sweetened condensed milk, cream, milk, lemon juice, vanilla, almond extract, and pinch of salt. Stir till blended.
Cover and chill for 2-4 hours, or until very cold.
Pour into an ice cream maker and churn according to manufacturer's instructions.
After 20-30 minutes, your ice cream should be soft serve consistency. Eat immediately, or transfer to a freezer safe container. Freeze for 2-3 hours, or until firm enough to scoop.