Poached Peaches With Vanilla Panna Cotta

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1 pint heavy cream

1/2 cup milk

1 1/2 cups sugar

1 vanilla bean, halved lengthwise, or 2 teaspoons vanilla extract

2 teaspoons unflavored gelatin

1 pinch kosher salt

3 2-inch strips lemon zest

6 small ripe white or yellow peaches

1 sprig fresh mint, lemon verbena, or lavender

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