Place peeled peach in a freezer bag and place in freezer along with the peach yogurt cup.
Freeze for 2-3 hours.
Scoop ice cream, frozen peach yogurt, frozen peach slices, and milk into a blender.
Blender until desired consistency (it will be thick but I like to leave a few chunks of peach).
Pour into chilled glasses, top with whipped cream and a peach slice, add a straw, and enjoy!