Prepare an ice bath in a large bowl and set aside.
In a large pot, blanch the peaches in water for about 60 seconds. Do this by bringing the water to a boil and adding the peaches. Boil the peaches for about 60 seconds, the skin will start to bubble away from the peaches. Remove the peaches from the boiling water with a slotted spoon and put them into the ice bath. Work in batches if necessary to get all the peaches done.
When all the peaches have been blanched and put into the ice bath, drain the water and set them aside.
In a large pot, combine vinegar, brown sugar, cumin, and salt. Leave off the heat for now.
Peel and dice the peaches, adding them to the vinegar mixture as you go to prevent them from browning.
Make sure the tomatoes, bell peppers, jalapenos, and onions are diced into really small pieces and then add them to the peaches and vinegar mixture.
Turn the heat on to medium-high and bring the mixture to a boil. Reduce the heat and simmer for about 15 minutes. The mixture should thicken.
When the salsa thickens, turn off the heat and add the cilantro. Ladle into your jars and refrigerate when cooled. Enjoy within about 5 days.