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Chill bowl and whisk of stand mixer in freezer 15 - 20 minutes prior to whipping cream
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Combine peaches, brown sugar, and bourbon in a skillet over medium-low heat and cook until brown sugar is dissolved and peaches are softened, but not mushy - set aside to cool
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Combine sweetened condensed milk and vanilla bean paste in a large bowl
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Add heavy cream to bowl of stand mixer fitted with whisk attachment and whip cream until soft peaks form - 2 - 3 minutes
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Fold whipped cream into the sweetened condensed milk
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Stir in bourbon brown sugar peaches
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Transfer to a loaf pan, cover tightly with aluminum foil and freeze overnight
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Serve garnished with mint if desired