Special equipment: If you don't have a grill or have access to one, the peaches can be prepared in a well-seasoned cast-iron skillet or on a preheated grill plate.
For the homemade mascarpone ice cream: Whisk the Homemade Mascarpone and sweetened condensed milk together in a bowl until smooth and combined.
Split the vanilla beans in half with a paring knife and use the back of the knife to gently scrape the seeds out of the pods; discard the pods. Add the vanilla seeds, heavy cream and salt to the mascarpone mixture. Whisk together until stiff peaks form, 7 to 10 minutes by hand or 3 to 5 minutes with an electric mixer.
Gently spoon the mixture into a freezer-safe container, making sure not to mix it too much as this will force out air and the ice cream won't be as light. Freeze for at least 5 hours or overnight.
For the peaches and cream: Prepare a grill for medium-high heat (see Cook's Note).
Place the peaches, cut-side down, on the grill and cook until softened and well charred, about 10 minutes. Let cool for a minute or two.
Serve the peaches, grilled-side up, topped with a scoop of mascarpone ice cream.
Bring the heavy cream to a low simmer (180 degrees F) in a saucepot over low heat. Gently stir in the lemon juice, then remove the saucepot from off the heat. Set aside to cool for 1 to 2 hours.
Line a small fine-mesh sieve with cheesecloth and set over a bowl. Pour the cream mixture over the cheesecloth and press a small piece of wax paper directly onto the cream to prevent a skin from forming. Refrigerate for at least 8 hours or up to overnight.
When the cream is fully drained, discard the liquid and transfer the mascarpone to an airtight container. It will keep in the refrigerator for a few days.
This recipe was provided by a chef, restaurant or culinary professional. It has not been tested for home use.
Recipe courtesy of The Box Street Social, San Antonio, TX