Shred, macerate, and smush the stone fruit. Add the salt and a little less than 1/3 of a cup sugar (to taste, add more if you like it sweet). Set aside in the fridge to come together.
Vigorously mix the milk, cream, sugar, and vanilla together, and pop in the freezer to chill.
Put the milk mixture into the pre-frozen KitchenAid ice cream maker (it needs to pre-freeze for at least 24 hours to work), and churn it for 5 mins at #2 speed. Increase speed to #4 for 5-7 minutes Add the fruit mixture and churn at #1 till it’s mixed in, then churn at #2 for five more minutes. Now you have soft serve. Stick the ice cream in the freezer for 1-2 hours for harder ice cream.