Start by draining the canned peaches and transfer them to a large bowl.
Next, using a hand blender, beat until dissolved.
Add the condensed milk and beat again until combined.
Finely chop the milk chocolate bar into shavings.
Now, in another bowl, add the heavy cream and beat with an electric mixer until stiff peaks form. Pour in all the peach mixture and keep beating until combined.
Finally, add the chocolate shavings and mix gently.
Transfer all this mixture to a medium dish, take to the freezer and let it chill for at least 6 hours.