Roast peaches skin side down under broiler at 500* F for 5-6 minutes after drizzling 2 Tbl maple syrup on them. Remove from oven and cool
Mix together milk, cream, sugars, maple syrup, salt and vanilla and pour into ice cream maker. Follow instructions for ice cream maker.
Right before ice cream is finished chop and add the peaches with any juices to ice cream and finish. Freeze for desired amount of time. Additional recommended toppings; chopped sugared pecans with or without bourbon.