Add the frozen peaches, orange juice, lemon juice, sugar, half and half, vanilla extract, and fresh orange zest to your blender. Blend on the ice cream or sorbet setting if your blender has one, which is specifically designed to crush frozen fruit while incorporating air for a creamy texture. If your blender doesn't have this setting, use a high-speed setting. I find that adding the citrus juices and zest first helps distribute the flavors more evenly throughout the mixture as it blends.

Pulse the blender in short bursts, stopping to scrape down the sides as needed, until the mixture reaches a smooth, soft-serve ice cream consistency. Be careful not to over-blend, as this can break down the frozen fruit too much and make the mixture watery rather than creamy. I like to stop pulsing while there's still a tiny bit of texture—it gives the ice cream a more natural, less artificial feel.

If the mixture is still too soft or runny after blending, transfer it to a bowl and freeze for 15-20 minutes until it firms up to the consistency you prefer. Scoop into serving bowls and enjoy immediately while it has that perfect soft-serve texture. If it becomes too hard in the freezer, let it sit at room temperature for 2-3 minutes before scooping.