Coarsely chop the peaches into 1/2″ (1 cm) thick pieces.
Put them in a small saucepan with the honey and bring to a boil.
Cover and simmer, stirring occasionally (about 10 minutes).
Put the mixture in a food processor and blend until a fine puree is obtained.
Set aside.

Heat the milk, cream, and rosemary sprigs.
Bring to a boil, then cover and remove from heat.
Let infuse for 30 minutes.
Remove the rosemary sprigs and return the mixture to heat.

Beat the egg yolks with the sugar.
Gradually add the warm cream and return the mixture to the saucepan.
Cook until the cream coats the spoon.

Add the peach puree to the cream and mix well.
Refrigerate the mixture until it is very cold.

Add the peach brandy to the mixture and mix well.
Pour the mixture into the ice cream maker and churn according to the manufacturer’s instructions.