In a gallon ice cream freezer container, mix together the peach mixture, sweetened condensed milk, evaporated milk, and vanilla. Pour in enough whole milk to fill the container to the fill line, about 2 cups.
Follow the manufacturer's instructions to freeze the ice cream.
You can make this ice cream a little sweeter by adding up to 1/2 cup more sugar.
Cooling the container first will help the ice cream harden faster.