Fresh Peach Ice Cream

3 large, ripe peaches, peeled and finely diced
1/3 c sugar (I used half sugar and half Splenda)
3 T lemon juice
1 c whole milk, well chilled
3/4 c granulated sugar (I used 1/2 c Splenda and 1/4 c sugar)
2 c fat-free half-and-half, well chilled
2 t pure vanilla extract

Combine peaches with sugar and lemon juice and let macerate for 2 hours. Place mixture in a colander, and drain over a large bowl, stirring to mash peaches coarsely. Set peaches aside. Add milk, sugar, half-and-half and vanilla to accumulated peach juices, and stir with a whisk until sugar is dissolved. Turn ice cream machine on, pour mixture into freezer bowl, and let mix about 20 minutes. Add reserved peaches through ingredients spout and let mix another 5 minutes. Transfer ice cream to a freezer-safe container and place in freezer 2 hours before serving.