Puree 3 cups of the peaches with peach nectar in a food processor until smooth.
Add the peach puree, sweetened condensed milk, heavy cream, and milk to a medium-size sauce pan; stir to combine.
Place 3 Tbsp of the peach mixture in a small bowl. Sprinkle the gelatin over the surface of the liquid and set it aside.
Bring the mixture in the sauce pan to a slight simmer over medium heat. Remove the pan from the heat and scoop a cup of the heated mixture into the bowl with the gelatin. Stir until dissolved. Stir the gelatin mixture into the rest of the ice cream base and refrigerate overnight. Chop the remaining peaches into 1/4'' pieces. Refrigerate them until you're ready to freeze the ice cream base.
Pour the chilled ice cream base into the canister of an ice cream maker and freeze according to the manufacturer's instructions. When the ice cream reaches a soft-serve consistency, add the chopped peaches and let the machine run until they're distributed throughout. Continue to freeze according to the manufacturer's directions.
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