Wash peaches, quarter them and remove pits, and puree in a food processor until fairly smooth. Set aside. If using frozen, allow them to thaw in a bowl and then puree in a food processor.
Whip chilled whipping cream, vanilla and salt until stiff peaks form. Add sweetened condensed milk and mix well to combine.
Add peach puree and mix well to combine. Pour into a chilled freezer safe container (see Recipe Notes for suggestions) and freeze 3-6 hours - until desired level of firmness is reached.