Grilled Vanilla Peaches

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 overpeaches. 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.