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Peel and slice the peaches. Place in a freezer bag or air tight container and freeze for a few hours or overnight.
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In a food processor, add the peaches, milk, and maple syrup. Blend until creamy.
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Serve as soft serve or freeze for a few hours.
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To make the balsamic reduction, combine the balsamic and maple syrup in a pan.
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Heat over medium-high heat until it begins to simmer.
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Reduce heat and simmer until thickened.
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Cool and pour on the peach ice cream.