Combine milk and half-and-half in a medium, heavy saucepan, and bring to a boil. Remove from heat.
Combine sugar, salt, and egg yolks in a medium bowl; beat with a mixer at high speed until thick and pale. Gradually add half of hot milk mixture to yolk mixture, stirring well with a whisk. Return milk mixture to pan. Cook over medium-low heat for 2 minutes or until a thermometer registers 160°, stirring constantly. Place pan in a large ice-filled bowl. Cool completely, stirring occasionally.
Pour mixture into the freezer can of an ice-cream freezer, and add peaches. Freeze according to the manufacturer's instructions. Spoon ice cream into a freezer-safe container; cover and freeze 1 hour or until firm.