Combine peaches and sugar, and let stand 1 hour.
Process peach mixture in a food processor until smooth, stopping to scrape down sides.
Stir together evaporated milk and pudding mix in a large bowl; stir in peach puree, condensed milk, and half-and-half.
Pour mixture into freezer container of a 4-quart hand-turned or electric freezer; freeze according to manufacturer's instructions. Spoon into an airtight container, and freeze until firm.