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1
In a medium saucepan, combine nectarines and water. Bring to a boil, cover, then allow to simmer over medium heat for 8-10 minutes, until the nectarines have broken down and released a great deal of their juices. Set aside to cool
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2
While the nectarines are cooking, combine brown sugar, egg yolks, and heavy cream in a medium saucepan. Whisk to combine, then heat mixture over medium heat, whisking constantly, until mixture thickens and reaches a temperature of around 170 degrees F. The mixture should coat the back of a spoon, leaving a clean trail when swiped with a finger. Remove from heat, whisk in milk, then place in the refrigerator to cool.
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3
When both mixtures have cooled, combine them in a blender or food processor and blend on high speed until completely smooth and combined. Stir in lime juice and vanilla, then refrigerate until complete cooled, about 2 hours. Alternately, if you don't want to wait, you can place the nectarine custard mixture in a thin, nonreactive metal bowl, place the metal bowl in larger bowl filled with mostly ice with a bit of water, and stir the mixture as the metal bowl rests in its ice bath. After about 10-15 minutes of careful stirring (being careful not to tip the custard bowl over into the ice water), the mixture will become quite cold.
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4
Freeze mixture in ice cream maker according to manufacturer's directions.
