Peel and slice the peaches. Place in a freezer bag or air tight container and freeze for a few hours or overnight.

In a food processor, add the peaches, milk, and maple syrup. Blend until creamy.

Serve as soft serve or freeze for a few hours.

To make the balsamic reduction, combine the balsamic and maple syrup in a pan.

Heat over medium-high heat until it begins to simmer.

Reduce heat and simmer until thickened.

Cool and pour on the peach ice cream.