Start by making the homemade vanilla bean ice cream (or skip to Step 4 to make the baked peaches) by pouring the heavy whipping cream into a clean bowl and beating with either a hand or stand mixer until stiff peaks form, about 5 minutes.
Add the can of sweetened condensed milk and the scraped inside of a vanilla bean pod or vanilla bean paste, and gently mix until completely combined.
Transfer the ice cream mixture to a container and place in the freezer for at least 4 hours, or until solid before scooping and serving with the baked peaches.
For the baked peaches, preheat your oven to 350° Fahrenheit.
Arrange the peach halves in a baking dish, cut-side facing up. Place a piece of butter on top of each peach.
Then, sprinkle ½ tablespoon of brown sugar on each peach, before sprinkling the peaches evenly with cinnamon.
Bake the peaches for about 20-25 minutes, or until they’re soft and easily pierced with a fork. Remove them from the oven and let them cool slightly before serving warm with a scoop of homemade vanilla bean ice cream!
