Peel the peaches, cut them into slices, and cut them into small pieces. In a smaller bowl, add the chopped peaches, sugar, and ground cinnamon. Simmer on stove over low heat for 8-10 minutes, until peaches are soft. Once cooked, put it in the refrigerator to cool. In a medium sized bowl, add the condensed milk and vanilla extract. Stir the two together until combined. Sit aside.

In a large bowl, add the whipped cream. Using a hand mixer, mix the cream on medium-high speed until it turns into a thick whipped cream. Once the whipped cream is made, transfer the whipped cream to a bowl with the milk/vanilla mixture. Slowly fold in the whipped cream until combined. In a rectangular baking dish, add a layer of vanilla whipped cream. Next add 1/3 crumbled graham crackers and peaches. Repeat the process two more times. Once the ice cream is layered, put it in the freezer for 4-5 hours until it hardens. After setting, serve it up.

Enjoy!