Step 1:
Prepare a hot grill.
Step 2:
Cut the peaches in half and remove the pits. In a small bowl, mix together the brown sugar, vanilla, and cayenne. Place the peach halves in a baking dish cut side up and spoon the sugar mixture over the peaches. Allow to sit for 20 minutes or until the sugar dissolves.
Step 3:
Place the peaches on the grill skin side down and cook for about 3 minutes or until they develop some char and the sugar is slightly set. Turn over and grill for 1 minute, then quarter turn them to develop a nice diamond shaped grill mark. Remove, place on serving plates, and serve with a dollop of whipped cream or ice cream.
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