Instructions:

Preheat your grill to medium heat. While the grill is heating, prepare the peaches by brushing the cut sides with olive oil and sprinkling them with cinnamon.

Place the peach halves cut-side down on the grill. Grill for about 4-5 minutes, or until they're visibly caramelized and have nice grill marks. Flip the peaches and grill for an additional 2-3 minutes, just to warm them through.

Once the peaches are done, remove them from the grill and let them cool slightly. While they're cooling, scoop the vanilla ice cream into serving bowls or dishes.

Place the grilled peach halves on top of the ice cream scoops. Drizzle generously with caramel sauce and sprinkle with nuts if desired.

Garnish with fresh mint leaves for a pop of color and added freshness. Serve immediately while the peaches are warm and the ice cream is still cold.

Extra Tips:

For an extra touch of flavor, try adding a splash of bourbon to your caramel sauce for a sophisticated twist.

If peaches aren't in season, you can substitute them with other fruits like pineapples or nectarines that grill well.

This dessert can also be made ahead of time; just grill the peaches and prepare the caramel sauce before your guests arrive, and then assemble the sundaes right before serving for the best experience.