In a blender, combine the ripe peaches, milk, sugar, vanilla ice cream, vanilla extract, and ice cubes.
Blend until smooth and creamy, ensuring all ingredients are well incorporated.
Taste the milkshake and adjust sweetness if necessary by adding more sugar.
Once satisfied with the taste and consistency, pour the milkshake into glasses.
Serve immediately, garnished with a slice of peach if desired.
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