In a large saucepan over medium heat, heat milk, cream, and sugar until a light simmer. Whisk a small amount of hot milk mixture into egg yolks, beating constantly. Repeat 2 times then add all back to saucepan. Bring mixture to a low simmer until slightly thickened. Remove from heat and whisk in vanilla. Set aside for a moment.
Place peeled and diced peaches in a food processor and pulse until smooth. Add milk/egg base to food processor, pulsing until smooth. Refrigerate ice cream mixture until completely chilled.
Mash raspberries with 2 tablespoons sugar and set aside.
Make the streusel: In a medium bowl, combine oats, flour, cinnamon, sugar, pecans, and coconut oil until crumbly. Spread mixture on a parchment paper-lined baking sheet and bake at 400F 10-12 minutes until lightly golden brown. Break apart into clusters and cool completely.
Churn ice cream according to ice cream maker's instructions. Spoon mashed raspberry over top and use a knife to gently swirl ice cream. Freeze ice cream until completely solid about 2 hours. Once frozen and just before serving, sprinkle top with streusel clusters, scoop ice cream and serve. Enjoy!!