Combine diced peaches, ¼ cup sugar, and lemon juice in a bowl. Let sit for 15–20 minutes until juicy.

Blend the peaches until smooth, leaving a few small chunks if desired. Refrigerate.

In a saucepan, heat the milk, cream, and half the sugar until warm.

In a separate bowl, whisk the egg yolks with the remaining sugar.

Slowly add some warm cream mixture to the eggs while whisking. Return everything to the saucepan.

Cook over medium-low heat, stirring constantly, until the mixture thickens slightly and coats the back of a spoon.

Remove from heat and stir in vanilla extract and salt.

Cool the custard completely and refrigerate for at least 3 hours.

Mix the chilled custard with the peach puree.

Pour into an ice cream maker and churn according to the manufacturer's instructions.

Transfer to a freezer container and freeze for 2–4 hours until firm.

Scoop into bowls or cones and garnish with fresh peach slices.