Mix ground beef, evaporated milk, oats, onion, ketchup, salt and pepper together. Shape into six individual loaves. Place in greased 9x13 baking pan, and bake at 350 degrees for 20 minutes.
Arrange well-drained peach halves (cavity side up) on top of loaves. Place a few cloves in each peach half. Sprinkle a good pinch of brown sugar on each peach (more, if you prefer a sweeter taste). Pour apple cider vinegar into each peach cavity. Bake an additional 15 minutes or until meat is done.
While meat is baking, make the sauce by combining the soup, worcestershire sauce, mushrooms and milk into a medium saucepan. Cook on medium heat until hot, but do not boil.
Serve with green beans, peaches and the warm sauce poured over the meat loaves.