1. In a small saucepan, combine the diced peaches, 1/2 cup of sugar, and lemon juice. Cook over medium heat until the peaches are soft and the mixture is slightly thickened, about 10 minutes. Let cool completely.
2. In a large bowl, whisk together the heavy cream, whole milk, remaining sugar, vanilla extract, and cinnamon until the sugar is dissolved.
3. Pour the mixture into your ice cream maker and churn according to the manufacturer’s instructions.
4. While the ice cream is churning, preheat your oven to 350°F. In a mixing bowl, combine the flour, brown sugar, baking powder, and salt. Stir in the melted butter until the mixture resembles coarse crumbs.
5. Spread the cobbler mixture onto a baking sheet and bake for 12-15 minutes, or until golden brown. Allow to cool completely, then break into small pieces.
6. Once the ice cream is almost done churning, fold in the peach mixture and cobbler pieces.
7. Transfer the ice cream to an airtight container and freeze for at least 4 hours or until firm.

One of my favorite tips from my grandma was to always taste as you go. This ensures that each batch is perfectly suited to your palate, and it turns the cooking process into an enjoyable, sensory experience.