1. Combine sweetened condensed milk, vanilla extract, and olive oil in a large mixing bowl.
2. Whip the heavy cream until stiff peaks form.  Stir in 1/3 of the whipped cream into the milk mixture.  Carefully but thoroughly fold in remaining whipped cream, being careful not to deflate the mixture as you combine.
3. Scrape olive oil ice cream into a loaf pan or other bowl and cover with plastic wrap.  Freeze for at least 6 hours.  Scoop and let ice cream sit for at least 5 minutes before eating so it achieves a good consistency.  You want it to be a little melty so it has maximum creaminess!  Top with roasted peaches and a mini olive oil cookie and devour.

for the Roasted Peaches

1. Preheat oven to 400°F.  Spray an oven safe baking dish with nonstick cooking spray.  Combine all ingredients in baking dish and let roast approximately 30 minutes, until peaches are caramelized and very tender.

for the Mini Olive Oil Cookies

1. Whisk together olive oil, milk, egg, vanilla extract, and sugars until well combined.  Add in flour and baking soda and stir until just combined.
2. Preheat oven to 375°F and form dough into tiny balls and place on baking sheets.  Bake cookies in oven for 10-12 minutes, just until light golden brown.  You should have approximately 24 mini cookies (you won't need this many for the ice cream sundaes, but feel free to just eat because, well... cookies).