In a large bowl, stir together half-and-half, sweetened condensed milk, cream, and vanilla.
Freeze half-and-half mixture in an ice cream maker according to manufacturer's instructions. When mixture is starting to look frozen, add peaches. Continue churning until it has a soft-serve consistency. Transfer to a 1-quart freezable container and freeze until set, about 2 hours.
Note: Nutritional analysis is per serving.