Wash and pit peaches, then dice and puree until smooth
(Optionally press puree through a fine-mesh sieve for extra smoothness)
In a large bowl, combine condensed milk, vanilla extract, and salt
Whip heavy cream until stiff peaks form
Gently fold whipped cream into the condensed milk mixture
Stir in peach puree and optional lemon juice
Transfer to a freezer-safe container and smooth the surface
Freeze for 6 hours or until firm