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1
In a 2 qt. saucepan, heat together milk, cream, lavendar, vanilla bean and seeds, salt, and 7 ounces of the sugar, stirring to dissolve sugar. Bring just to a simmer, remove from heat and steep 30 minutes.
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2
Strain mixture through a sieve, cover, and refrigerate until cold, 6 hours or overnight.
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3
Preheat oven to 400 degrees F. Cut peaches in half, removing pits. PLace skin-side down on a parchment-lined baking sheet. Sprinkle 1 oz. sugar over flesh evenly. Roast until soft and golden, about 15-20 minutes. Cool to room temperature.
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4
Peel peaches and coarsely chop, reserving any juices.
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5
Pour cream base into an ice cream maker and process according to manufacturer's directions. Add peaches and reserved juice during last minute of churning to just combine.
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6
Extract ice cream into a container, press parchment directly on top, and freeze solid, preferably overnight.
