In a medium saucepan whisk together egg yolks, sugar, and salt. Gradually wisk in milk. Cook over medium heat, stirring constantly until custurd thickens slightly and coats the back of the spoon, 10 to 12 minutes.
Pour custurd into a medium bowl set over ice. Stir in cream, mashed peaches, lemon juice, and vanilla. Let stand, stirring occasionally until chilled.
Churn in an ice cream maker according to manufacturers instructions. Transfer churned ice cream to a plastic container and freeze until firm.