Peel, slice & cut all peaches into small chunks.
Into smaller pot add cut peaches, sugar & ground cinnamon. Cook on stove on low heat for 8-10 minutes until peaches are soft. Once cooked place in fridge to cool.
Into medium bowl add condensed milk and vanilla extract. Stir the two together until combined. Set aside.
Into large bowl add whipping cream. Using hand mixer blend the cream on medium-high speed until it turns into thick whip cream.
Once whipped cream is created, transfer whipped cream into bowl with milk/vanilla mixture. Slowly fold the whipped cream in to combine.
Into rectangular bread dish, add a layer of vanilla whipped cream. Next add 1/3 crumbled graham crackers & peaches. Repeat the process 2 more times.
Once the ice cream is layered, place into freezer for 4-5 hours until set. After set, serve & enjoy!