Peel the peaches by scoring a small X on the bottom with a pairing knife, then place in boiling water for 30 seconds and then into an ice bath. Use a pairing knife to pull the skin off. Cut in half and remove the stone.
Heat your grill on high and wipe with canola oil to prevent sticking. Grill the peaches on both sides until they have some nice color. A skillet with a little butter can also be used to caramelize the peaches if a grill is not handy. Purée the grilled peach halves in a blender or food processor until smooth.
Heat the cream, milk, sugar and salt in a sauce pan over medium heat while whisking to completely dissolve the sugar (about 4 to 5 minutes).
In a separate bowl, whisk the egg yolks, then gradually pour about 1 cup of the hot milk mixture into the egg yolk bowl, while continually whisking to temper the eggs. Add the tempered egg yolk mixture back to the pan while whisking until it just comes to a simmer. Add the bourbon and then remove the pan from the heat. Add the peach purée and chill completely.
Spin the ice cream mixture according to the manufacturer's instructions, then freeze for at least 5 hours, or overnight.