First what you want to do is preheat you grill or grill pan to about medium high heat. While that baby is heating up you want to get the peaches ready. Cut with a knife right in half. Remove the pit with a spoon and put in a ziplock bag. When all the peaches are cooked, add the vanilla, brown sugar, and cinnamon. Coat the peaches with all the goodness and take out to the grill! Put them flesh side down and cook just until you see nice grill marks, about 2 minutes. After about 2 minutes flip them over to the skin side and let cook for another minute. Serve hot with ice cream and you have a great impressive dessert that everyone will love!!!

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