Additional 1-2 grilled peaches, diced for adding in later
For the Grilled Peaches
Light grill and set to medium heat.
Cut peaches along the equator and twist free from stone. This should leave you with one side that has the pit intact, and one side that does not. *Remove the pits before grilling.
In a small bowl, mix together the vegetable oil, sugar, and balsamic vinegar to create a simple marinade.
Lightly brush the flesh side of each peach with the marinade and place peaches flesh side down on the grill
Grill for 4-5 minutes, being careful to not allow flare-ups as they will impart a burnt flavor.
After flesh side has finished cooking, lightly brush the skin sides with the marinade and flip towards the heat. Allow another 3-4 minutes or until the flesh of the peaches seems to be soft enough to your liking.
Remove from heat and allow peaches to rest until room temperature*, 20 minutes. This will allow the sugars to caramelize, the flavor from the grill to penetrate, and the skins to soften.
For the Balsamic Vinegar Goat Cheese Swirl
Heat balsamic vinegar over medium low heat until you reach a gentle simmer, stirring often until it reduces by half. This will take about 5 minutes.
Turn off the heat and add in crumbled plain goat cheese. Stir until all crumbles are dissolved and the mixture is smooth. If the glaze becomes too thick, add in some balsamic vinegar a small amount at a time. The finished consistency will almost look like a hot fudge.
Set aside to cool to room temperature*, and then pour into a small plastic sandwich bag to pipe into your ice cream base later.
Note: be sure your peaches and balsamic glaze are completely cool before adding them to your ice cream base.
For the Ice Cream Base
Using a blender/immersion blender/food processor, puree roughly one pound of grilled peaches (3-4 medium peaches). You may keep the skins on or peel them, it is up to you.
Transfer puree, lemon juice, sweetened condensed milk, and salt to mixing bowl and using a stand or handheld mixer, whip until fluffy. Note: If using stand mixer, empty grilled peach puree mixture into another bowl.
Add heavy whipping cream to bowl and whip on medium high for 4-5 minutes until soft peaks form.
Slowly fold grilled peach puree mixture into the cream, taking care to not deflate the peaks by adding too much or mixing too quickly at a time. Gently mix until puree is evenly distributed throughout the cream.
Gently scrape ⅓ of the mixture into a metal loaf pan or freezer-safe dish.
Cut a small hole in the corner of the plastic bag holding your balsamic goat cheese glaze. Pipe a zig-zag line down the length of the pan. Use the back of a spoon to swirl into the ice cream base.
Add a handful of reserved diced peaches.
Add the second ⅓ of the base and repeat steps 6 and 7.
Add the rest of the base and top with one last swirl of the balsamic goat cheese glaze and any remaining peaches.
Tightly wrap with plastic wrap and freeze for a minimum of 6 hours, until ice cream has the correct scooping texture.
Note: if you make this ahead of time and freeze overnight, when serving take the ice cream out of the freezer 30 – 45 minutes before serving checking on it often.