Slice peaches in half and remove pit. Place peaches skin side down and drizzle with maple syrup. Broil at 500º F for 5-7 minutes, taking care not to let the peaches burn. Remove from oven and set aside to cool completely. Once cooled, peel and chop for later use in ice cream.
For the peach ice cream:
Mix together milk, whipping cream, sugar, maple syrup, salt and vanilla. Pour into the insert of ice cream maker and make according to ice cream maker instructions.
Once ice cream is almost ready, add chopped peaches along with any juices from the pan with the peaches. Continue making ice cream until it has completely made. Serve immediately for softserve ice cream or place in an airtight container and place in freezer for a few hours or overnight for a firmer ice cream.