• Freeze the canister of an ice cream maker overnight.
• Place the butter in a small pot and cook over medium-low heat until brown and fragrant.
• Place the yolks, brown sugar, and salt in a medium heat-safe bowl and whisk to combine.  
• Place the milk, cream, and brown butter in a medium pot and cook over medium-low heat until small bubbles appear around the edges and the liquid is steaming.  
• In a thin, slow stream, pour the hot cream mixture into the yolk mixture while whisking.  
• Transfer the custard back to the pot and cook on low heat (whisking) until slightly thickened.  
• Remove from the heat and stir in the vanilla and peaches.  
• Chill the mixture overnight in the refrigerator.
• Place the chilled ice cream base in the prepared ice cream maker, and churn according to the manufacturer's directions.  
• Layer the ice cream in a loaf pan, sprinkling in the cinnamon streusel as you go along.  Freeze until hard.

To make the cinnamon streusel:

• Place the butter in a small pot over medium-low heat, until melted.  
• Stir in the remaining ingredients with a fork, until evenly distributed.