Scald the half and half and milk over low heat in a saucepan. Stir a little of the scalded milk mixture in the egg yolks and whisk into the remaining milk along with the sugar. Cook over low heat until sugar dissolves. Increase heat to medium and cook until mixture thickens and coats the back of a spoon. Remove from the heat and strain into a bowl using a fine mesh strainer.
Blanch the peaches in boiling water for 30 seconds so they can peel easily. Peel and puree peaches. Stir into the cream mixture along with the lemon and orange zest. Cool to room temperature, cover and chill.
Freeze in a ice cream maker according to manufacturer’s instructions.