I haven't actually tried this one, but I hope it's what you're looking for.

PEACH VINEGAR

INGREDIENTS:
2 ripe peaches (about 12 ounces total), peeled, pitted, and chopped
1 cup Japanese brewed rice vinegar, or a good distilled white vinegar with an acid content between 4 and 5 percent
3 Tablespoons sugar

PREPARATION:
1. Puree the peaches in a food processor, then pour the puree into a medium-size bowl. (There should be 1 cup of peach puree.)
Combine the vinegar, sugar, and 1/2 cup water in a medium-size saucepan.
2. Bring to a boil over high heat, then reduce the heat to medium-low and simmer until slightly syrupy, 4 to 5 minutes. Stir the vinegar mixture into the peach puree. Let cool.
3. Sterilize a 16-ounce bottle (or two 8-ounce canning jars). Sterilize the cap (or lid) according to the manufacturer's instructions or have ready a clean cork.
Skim the foam, if there is any, then strain the vinegar mixture through a fine sieve, pressing on the solids to extract as much juice as possible. Discard the solids.
4. Drain the bottle, then fill with the strained vinegar. Seal with a clean cork (or sterlized lid). Store in a cool, dry place or refrigerate.

Variation:
Mango-Passion Fruit Vinegar: for the peaches, substitute 3/4 cup mango puree plus the strained pulp of 1 large passion fruit (about 1/4 cup). Proceed with the recipe

I don't have a real recipe, though the site below has some good info. Basically you cover your fruit (add herbs if you like) with almost-boiling vinegar, let it sit for about three weeks and then strain it into a sterilized bottle. You can pop a few berries in for show (or a cinnamon stick, some lemon peel, maybe some mint, or some peppercorns...mmmm.)Our favorite is raspberries or huckleberries in white wine vinegar or rice vinegar. Orange with some peppercorns is yummy also. And lemon with tarragon...wonderful on fish. The possibilities are endless...have fun!

Here is a link that might be useful: Making Flavored Vinegars