Method

In a large saucepan over medium heat warm soy milk until bubbles form around the edges of the pan. Cover and set aside.

Place peaches, lemon juice, honey, and Sucanat or Rapadura in a blender or food processor and puree until smooth, scraping down the sides often, about 2 minutes. Add egg yolks and guar gum and continue to blend for 2 minutes more. With machine running, slowly pour in warm soy milk, then blend until incorporated, about 1 minute more.

Transfer mixture to the saucepan and cook over medium heat, stirring constantly with a wooden spoon, about 6 to 8 minutes, or until mixture thickens and coats the back of the spoon. Remove from the heat and allow to cool slightly. Set saucepan in a basin of cold ice water and let stand, stirring occasionally, until cooled to room temperature. Cover and refrigerate for at least 6 hours, or overnight, allowing the flavors to fully develop.

Stir peach mixture well, then process in an ice cream maker according to the manufacturer's directions. Serve immediately, or transfer gelato to a plastic container with a tight-fitting lid. Place a piece of plastic wrap on top of the gelato, cover and freeze. Allow it to soften slightly before serving.