Cut the peaches into ¼” – ½” dice and add them to a saucepan with the lemon juice, sugar, brown sugar, cinnamon and salt. Stir to combine.
Cook over medium low heat until the peaches release their juices and the sauce thickens. About 3-4 minutes.
Let the peaches cool to room temperature. If not using immediately, store in an airtight container in the refridgerator.

Preheat your oven to 350° F.
In a medium bowl whisk together the flour, granulated sugar, brown sugar, cinnamon, oats and salt.
Add the melted butter and stir with a fork to combine. The mixture should look cumbly.
Spread the mixture on a parchment lined baking sheet.
Balke for 10-12 minutes. The crumble should be golden brown. It will not be crisp when removed from the oven, but it will crisp up as it cools.
Once completely cool break up the crumbles and store in an airtight container until ready to use.

In a large bowl, add the sweetened condensed milk, heavy cream and vanilla extract.
Using a hand mixer, beat the mixture, on high, until it is thick. It should be the consistency of soft whipped cream. This should take about 3-4 minutes.

Place 1/3 of the ice cream base in a glass or ceramic loaf pan or container and top with 1/3 of the peach compote and swirl it into the cream. Sprinkle with 1/3 of the crumbles.
Repeat 2 more times.
Cover with plastic wrap and then foil and place in the freezer. Chill for about 6-8 hours for a scoopable consistency.
If storing longer in the freezer, let the ice cream sit out at room temperature for a few minutes to make it easier to scoop.

Peach Crumble Pie No-Churn Ice Cream