Rosemary Ice Cream With Grilled Peaches

• 1 cup whole milk
• 1/2 cup sugar
• 3 egg yolks
• 1/2 cup fresh rosemary minced
• 2 cups heavy cream
• 1 teaspoon vanilla extract
• 8 inches peaches ripe, peeled*, cut half, pit removed

1. Whisk together the milk, sugar, egg yolks, and rosemary and cook in a double boiler over simmering water until the mixture thickens, about 10 minutes, stirring frequently.
2. Remove from heat and add vanilla and cream. Refrigerate overnight to allow rosemary to infuse its flavor.
3. Strain and freeze in an ice cream machine according to manufacturer's directions and then freeze until firm in the freezer.
4. Grill peaches over medium high flame until grill marks appear and the natural sugars in the peaches begin to caramelize, about 3-5 minutes.
5. Serve peaches with a scoop of rosemary ice cream.
6. Note: to peel ripe peaches, score an X in the bottom of each peach and then drop into a large pot of boiling water for about 3 minutes. Remove peaches with a slotted spoon and transfer immediately to a large bowl of ice water. When peaches are cool skins should slip off easily.

milk, sugar, egg yolks, rosemary, heavy cream, vanilla, peaches

Taken from www.yummly.com/recipe/Rosemary-Ice-Cream-With-Grilled-Peaches-1671557 (may not work)