In a bowl, whisk together the heavy whipping cream, sweetened condensed milk, 2 tablespoons vanilla essence, salted caramel sauce, and salt until well combined. Transfer to the refrigerator to chill for at least 2 hours—this chilling time is essential for proper ice cream texture and helps the machine churn more efficiently. I like to chill my base overnight if possible, as it makes the churning faster and creates an even smoother final texture.

While the ice cream base chills, combine the sliced peaches, 1/2 cup sugar, 2 teaspoons vanilla essence, ground cinnamon, and lemon juice in a pot over medium heat. Stir occasionally and cook for 15-20 minutes until the peaches soften and release their juices, creating a light syrup. Pour the cooked peaches into a bowl and let cool to room temperature—you can speed this up by spreading them on a plate.

Preheat your oven to 350°F and lightly grease an 8x8 inch baking pan. In a bowl, whisk together the melted and cooled butter, 3/4 cup sugar, 2 teaspoons vanilla essence, and 3/4 cup milk until smooth. In another bowl, combine the flour, baking powder, and 1/4 teaspoon salt. Gently fold the dry ingredients into the wet mixture until just combined—don't overmix, as this keeps the crust tender. Pour the batter into the prepared pan and bake for 13-15 minutes until golden and set, then cool completely.

Once the cobbler crust has cooled completely, break it into small bite-sized pieces and set aside. Remove the chilled ice cream base from the refrigerator and pour it into your ice cream maker. Churn according to your machine's instructions, typically 35-40 minutes, until the mixture reaches a soft-serve consistency. During the last few minutes of churning, fold in about half of the cooked peaches from Step 2 and half of the cobbler crust pieces to distribute them evenly throughout the ice cream.

Transfer half of the churned ice cream mixture into a 9x13 inch freezer-safe pan or container, spreading it into an even layer. Layer with half of the remaining cooked peaches from Step 2, drizzle with some of the salted caramel sauce, and top with the remaining cobbler crust pieces. Pour the remaining ice cream over the top, then finish with one final layer of peaches, caramel sauce, and crust pieces for a beautiful presentation. I like to slightly swirl the caramel into the top layer for both flavor distribution and visual appeal. Cover and freeze for at least 2 hours, or until completely solid.

Scoop the frozen cobbler ice cream into bowls or cones. Serve immediately, garnishing with additional cobbler crust pieces and a drizzle of salted caramel sauce if desired.