01 -
Preheat the grill to medium heat, approximately 350 to 375 degrees Fahrenheit.
02 -
Combine melted butter, brown sugar or sugar substitute, ground cinnamon, and vanilla extract in a small bowl. Brush the cut side of each peach half evenly with the mixture.
03 -
Place peach halves cut side down on the hot grill. Cook for 3 to 5 minutes until distinct grill marks form and peaches begin to soften.
04 -
Flip peaches skin side down and grill for an additional 2 minutes to ensure tenderness while maintaining shape.
05 -
Transfer grilled peaches to serving plates. Top each half with a scoop of vanilla ice cream. Optionally drizzle with honey or maple syrup and garnish with chopped nuts or fresh mint.