Preheat the grill to medium.

Cut the peaches in half and remove the pits. Combine the brown sugar and cinnamon in a small bowl. Sprinkle the sugar cinnamon mixture over the cut side of the peaches. Let stand for two minutes until the moisture of the peaches turns the sugar into a syrup. (Gently rub the sugar in if necessary)

Grill the peaches, cut side down, until well seared and warmed through. Serve immediately with a scoop of vanilla or cinnamon parve ice cream.