Peel, halve, and pit peaches.
Preheat grill to high. Combine lemon juice and vegetable oil in a bowl. Add peaches; toss to coat. Place peaches (with liquid) on a large piece of parchment-lined foil.
Stir together brown sugar, water, vanilla extract, cinnamon, and salt. Brush over
peaches. Fold foil to form a packet, crimping edges to seal. Grill, covered, for 15 minutes.
Slice peaches, and divide among 8 bowls. Top with scoops of ice cream.
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