Peel, stone and chop 900g ripe peaches into 1cm pieces. In a bowl, toss with half the caster sugar and 1 tbsp lemon juice (optional), then leave to macerate for 30 to 60 minutes.
Transfer the peaches and any juices to a saucepan. Simmer over a moderate heat, stirring occasionally, until the peaches are just softened and the syrup has thickened, about 5 to 7 minutes. Remove from the heat and leave to cool completely.
In a large bowl, whisk 480ml double cream, 240ml whole milk, the remaining caster sugar, 1 tsp vanilla extract and a pinch of salt until the sugar has dissolved.
Stir the cooled peach mixture into the cream base, cover and chill in the fridge for at least 4 hours or overnight.
Churn the chilled mixture in an ice-cream maker for 20 to 30 minutes, until it reaches a soft-serve consistency.
Transfer the churned ice cream to an airtight container, press a sheet of cling film onto the surface and freeze for 4 to 6 hours, until firm.