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In a large heavy saucepan heat milk on medium heat just until it starts to bubble around the edge. Gradually stir milk into beaten eggs. Return to saucepan. Cook and stir on medium heat about 2 minutes or until heated through. Remove from heat; cool slightly. Stir in cream and vanilla. Add the 3/4 cup brown sugar, stirring until dissolved. Cover and chill.
In a medium bowl combine peaches, the 1/2 cup brown sugar, and lemon juice. Stir peach mixture into chilled cream mixture.
Freeze peach mixture in a 4- or 5-quart ice cream freezer according to the manufacturer's directions. If desired, ripen for at least 4 hours.