Whisk the egg yolks and sugar together until fully combined and pale in color.

Slowly whisk the warm milk into the egg mixture. Add the cinnamon, vanilla, and 1/2 teaspoon of salt.

Return the mixture to the heat and bring it up to 165 degrees Fahrenheit, then remove from the heat. Do not whisk during this time, just let it come up to temperature and pull it off.

Transfer the base to the fridge and chill until it reaches 65 degrees, or ideally overnight. Chilling overnight makes the custard so much creamier and it is 100% worth it.

To make the peach pie filling, add the butter, brown sugar, cinnamon, and diced peaches to a saucepan. Stir and let simmer for about 15 minutes until thickened and jammy. Set aside to cool.

For the crumble, preheat your oven to 350 degrees. Combine the melted butter, brown sugar, oats, flour, cinnamon, and 1/4 teaspoon of salt until crumbly.

Spread the crumble on a baking sheet and bake at 350 for 10 minutes. Let cool completely so it stays crunchy.

Stir the cold heavy cream into your chilled custard base, then pour it into your ice cream machine and churn for about 20 minutes.

During the last minute or two of churning, add the peach pie filling and let it churn in fully.

Time to layer it up. This makes two pints, so add about 1/3 of the ice cream to your container, then a layer of crumble, then a drizzle of salted caramel. Repeat this three times until everything is layered in.

Let the ice cream firm up in the freezer for an hour or two until it reaches your desired consistency. If you love a softer serve texture, you can dig in right when it is done churning.