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Rosemary Ice Cream With Grilled Peaches

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Photo: Cooking with Michele

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Ingredients for 8 servings

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 ripe peaches, peeled*, cut in half, pit removed

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