- Make the biscuits: Cut butter and tallow into flour until mixture is coarse like cornmeal. Stir in sugar. Combine milk and cream, then work into dry mixture, being careful not to overwork. Place dough on a floured surface, then dust dough with flour. After a few folds, roll until 2 inches thick and cut into squares or use a biscuit cutter to portion. Bake at 425 degrees until golden brown.
- Make the ice cream: In a saucepan over low heat, gently cook peach slices with rosemary and honey, allowing flavors to infuse for 15 to 20 minutes. Immediately place in a blender and puree until smooth. Whip heavy cream and vanilla until medium-stiff peaks form, slowly sifting in powdered sugar while whipping. In a blender, process peach puree, sweetened condensed milk, and cinnamon until smooth. Cool to room temperature. Gently fold in whipped cream and diced peaches. Freeze in a loaf pan wrapped in plastic wrap.
- Make the cocoa gravy: Heat cream and sugar in a saucepan with cocoa powder, stirring well. Pour hot liquid over dark chocolate and let sit for 2 minutes. Whisk until completely smooth. Serve immediately.
- To assemble: Scoop ice cream over biscuits and top with gravy