Slice your 4 ripe peaches and toss them into a blender with the lemon juice, sugar, and orange zest. Pulse until you get a chunky puree — not smooth, you want texture. I always leave some small pieces because that's what makes it taste like actual fruit, not flavoring.

Pour the peach mixture into a fine-mesh strainer set over a bowl. Press gently with the back of a spoon to get all the juices out, which takes about two minutes. This step keeps your peach ice cream no machine from getting icy, so don't rush it.

Pour your 2 cups of heavy cream into a large mixing bowl and whip it with an electric mixer until soft peaks form — about three to four minutes on medium speed. Don't overbeat or you'll get butter, trust me on that one.

Gently fold in the 1 cup of sweetened condensed milk, the vanilla bean seeds, and salt. Use a rubber spatula and fold slowly, keeping all that whipped air in the mixture. This usually takes about 30 seconds if you're being patient.

Fold in the strained peach puree until you see some pretty swirls of peachy color throughout — don't overmix. I always leave mine kinda marbled looking because it looks beautiful in the bowl and tastes even better.

Pour everything into a 9x5-inch loaf pan lined with parchment paper, then sprinkle the pistachios and graham cracker crumbs on top. Press them down gently so they stick to the cream mixture.

Cover with plastic wrap and freeze for at least six hours, but overnight is honestly better. When you scoop it, let it sit on the counter for two minutes first so it's easier to portion.