Heat grill pan or grill over medium­ high heat. Brush cut sides of peaches with melted butter. Place cut side down on grill/grill pan and cook for 4­5 minutes. Remove from grill and let cool. Finely chop. {I left about half with skins and took the skins off the remaining half...totally personal preference}

In a stand mixer with the whisk attachment, whip the heavy cream for about 10 minutes until stiff peaks form.

In a separate bowl, stir together condensed milk and all but 1⁄4 cup of chopped peaches. Fold in whipped cream. Pour into loaf pan and sprinkle remaining 1/4 cup of chopped peaches on top.

Drizzle with caramel ice cream topping if using. Cover tightly and freeze overnight. Remove from freezer about 10 minutes prior to serving.