In a stand mixer fitted with a whisk attachment, whip the heavy cream until stiff peaks form. Add sea salt and vanilla bean paste.
Pour the sweetened condensed milk into the bowl of whipped heavy cream. Use a silicone spatula to gently fold in the condensed milk until everything is combined.
Transfer to an freezer-safe container. Freeze for 12-24 hours. Serve and enjoy!
For the air fryer roasted peaches
Preheat the air fryer to 350F for 2 minutes. Cut the peaches in half and remove the pits. Roast peaches in the air fryer. Brush balsamic vinegar over the peaches. Place the peaches cut side facing down, in an air fryer lined with parchment paper.
Cook for 4 minutes. Flip them over and cook for another 4 minutes. Let the peaches cool and serve with homemade vanilla ice cream!