Skin pineapple; remove and discard pineapple core. Cut pineapple lengthwise into halves.
Combine brown sugar, cinnamon, and ginger; rub evenly over pineapple.
Coat a food rack with cooking spray; place on grill over medium-high heat (350° to 400°). Place pineapple on rack.
Grill, covered with grill lid, 5 to 7 minutes on each side. Remove pineapple from grill; cut into 1/4-inch-thick slices. Serve with Vanilla-Cinnamon Ice Cream.