Instructions: Combine 2 1/2 cups 1% low-fat milk and egg yolks in a large, heavy saucepan, and stir well with a whisk. Cook over medium heat 10 minutes or until mixture thickens and coats a spoon, stirring constantly (do not boil). Combine egg yolk mixture, 2 1/2 cups 1% low-fat milk, peaches, and remaining ingredients in a large bowl; stir well. Cover and chill completely.

Pour mixture into the freezer, and freeze according to manufacturers instructions. Spoon ice cream into a large freezer safe container; cover and freeze 1 hour or until firm. Garnish with mint sprigs, if desired.

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