Rinse peaches; cut in halves and remove pits (leave skins on).Blend peaches, milk/cream, orange juice and sugar together in blender.
Pour mixture into popsicle molds and add popsicle sticks. Let freeze at least 4 hours or overnight.
Remove carefully from molds. Wrap in plastic wrap, and place in freezer until ready to serve.
Notes
If you don't have popsicle molds, no worries! Simply pour the peach mixture into a small paper cup. Freeze about 1 hour, then add sticks. Continue freezing as in directions.