Freeze the bowl from your ice-cream machine in the freezer overnight.

Place the rolled oats and water in a bowl for three hours or overnight in the refrigerator.

Preheat the oven to 160 degrees C and line a baking/roasting tray with parchment or baking paper.

Carefully slice the peaches in half lengthways, remove the pits and place them on a baking tray.

Sprinkle the peaches with the raw sugar and roast for 15 to 20 minutes or until soft and caramel. Remove from the oven to cool.

When the oatmeal is soft and the water absorbed, place it, the coconut milk, almond or soy milk, maple syrup, vanilla, xanthan gum and 3 of the peaches in to a blender. Blend until well combined and smooth.

Set up your ice-cream machine and pour the peach oatmeal ice-cream base in. Churn as per your machine's instructions or for around 30 minutes.

Meanwhile, place the other three peaches in the blender and blend to a puree. Add a small amount of water if needed.

When the ice-cream is churned and ready, remove from the ice-cream machine. Pour in the peach puree and fold in manually.

Pour the ice-cream in to a freezer safe container, cover with foil and continue to freeze until ready to serve.