Combine peaches, 1/4 cup sugar, cinnamon and lemon juice and cook in a skillet over medium heat for 10 minutes, stirring occasionally. Remove from heat and refrigerate until cold.

In a small sauce pan, combine 3/4 cup sugar, 1 cup heavy cream and salt. Heat just until sugar is dissolved. Cool to room temperature, about 15 minutes.

In a medium bowl, combine whole milk, 1 cup heavy cream and vanilla bean paste (or extract). Mix in the cooled cream/sugar mixture. Stir in half of the peach mixture and refrigerate until cold.

When the mixture is completely cooled, add it to your ice cream maker and churn according to manufacturer directions. Add the remaining peaches during the last 3 minutes of churning.

Transfer ice cream to a 2-quart freezer safe container and freeze until hard.