Set aside 6 beautiful raspberries for the garnish. Mash the remaining berries, mix with half of the sugar and pour into two tall glasses.
Cut the peach into pieces and put in the blender with the cream and the remaining sugar. Mix everything vigorously until the pulp is pureed.
Put the peach sauce in a mixing bowl, add the vanilla ice cream and stir everything until creamy. Stir in the milk. Pour over the raspberry puree and garnish with the remaining raspberries.