Hhdrate the gelatin in a container with cold water.
In the meantime, warm up a tablespoon of condensed milk in the microwave or under weak fire, until it gets close to a boil.
Squeeze the gelatin leaves to remove any water. Add to the warm milk to melt, and mix.
Pour this mixture into the remaining condensed milk, beating vigorously with the whisk.
Beat the heavy cream to stiff peaks. Add in the vanilla essence and mix.
Slowly fold in the condensed milk into the whipped cream, until it is fully incorporated.
Slice the peaches into smaller bits (the slices don't have to be too thin). Distribute half the slices on top of the biscuit base.
Cover with half the whipped cream.
Spread the remaining peach slices on top, and cover with the rest of the cream.
Place in the fridge while you prepare the topping.