I haven't tried this yet, but came across this recipe again and MAN, it sounds delish. Somebody remind me to make these the SECOND I have fresh peaches again next summer.
Peel, halve, and pit 8 freestone peaches.
Preheat grill to high. Combine the juice of 1 lemon & 1 tablespoon veg. oil in a bowl. Add peaches, toss to coat. Place peaches (with liquid) on a large piece of parchment-lined foil.
Stir together 1.5 Tablespoons packed brown sugar,
2 teaspoons water,
2 teaspoons vailla,
1/8 tsp. cinnamon, and
1/4 tsp. coarse salt.
Brush over peaches. Foil foil to form packet, crimping edges to seal, Grill, covered, for 15 minutes.
Slice peaches, and divide among 8 bowls. Top with vanilla ice cream!