Preheat your grill or grill pan to medium-high heat (about 400°F).
Halve the peaches and remove the pits. Brush the cut side generously with olive oil or melted butter.
In a small bowl, mix together the honey, vanilla extract, cinnamon, and a pinch of salt.
Place peach halves cut-side down on the hot grill. Cook for 4-5 minutes without moving, until deep grill marks form and the edges start to caramelize.
Flip the peaches and brush generously with the honey mixture. Cook for another 3-4 minutes until tender and slightly softened.
Remove from grill. Drizzle with additional honey and garnish with fresh mint. Serve warm with vanilla ice cream if desired.
Notes
Use peaches that are ripe but still slightly firm — overripe peaches will fall apart on the grill. You can also make this recipe on a grill pan indoors. Leftovers keep in the fridge for up to 2 days — reheat in a skillet.