In a large mixing bowl, whisk together the sweetened condensed milk and the vanilla bean paste. Set aside.
Beat the heavy cream until stiff peaks form. Fold half of the whipped cream into the condensed milk mixture.
Add the condensed milk mixture into the other half of the cream and mix until smooth and combined.
Stir in the chopped peaches. Transfer the mixture to a loaf pan, cover and place in the freezer overnight.
To make the sandwiches, place the granola on a large plate.
Place a scoop of the ice cream onto 6 of the snickerdoodle cookies. Place another cookie on top of each of the ice cream scoops and roll the sides of the sandwiches in the granola. Freeze until ready to serve.
Grilled Peaches with Buttermilk Cream Cheese Glaze