To make the custard, combine milk, eggs and sugar (I used a blender).

Heat a pan to medium high heat, then add in the milk mixture. Stir constantly so it doesn't scorch.

Once the mixture is bubbling, cook for another 2 minutes or until thickened. Set aside.

In a blender, combine peaches, yogurt, and flavoring. Blend until smooth.

Mix the peach flavoring with the custard until combined, then put in the refrigerator for a few hours.

Add the mixture to an ice cream maker, then slowly add in the whipping cream.

Keep in the ice cream maker until it is hardened, then serve!