Wash the peaches gently and pat them dry.

Cut each peach in half and remove the pit by twisting the halves apart.

If you want smaller pieces, you can quarter them, but halves work best for grilling.

Pro tip: Make sure your peaches are ripe but firm; softer peaches may fall apart on the grill.

In a small bowl, mix the olive oil or melted butter with brown sugar and cinnamon (if using).

Using a basting brush, lightly coat the cut sides of each peach half with the mixture.

This step helps peaches caramelize and adds a little extra flavor.

Heat your grill or grill pan over medium-high heat until hot.

Make sure the grates or pan surface are clean to prevent sticking.

Pro tip: If using a grill pan, lightly oil it before placing the peaches to avoid sticking.

Place the peaches cut side down on the hot grill or pan.

Grill for about 3-4 minutes without moving them to get nice char marks.

Flip the peaches carefully using tongs and grill the skin side for another 2-3 minutes until the fruit is tender but still holds its shape.

Remove the peaches from the grill and arrange them on serving plates or bowls.

Immediately top each peach half with a scoop of vanilla ice cream.

Drizzle with honey or maple syrup if desired, and garnish with fresh mint or chopped nuts for extra texture and flavor.

Pro tip: Serve right away so the ice cream can melt slightly over the warm peaches, creating a delicious sauce.